Dynamic sliding mode control for robot manipulators via voltage control strategy
Publish place: 3rd International Conference on Electrical Engineering
Publish Year: 1397
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
ICELE03_075
تاریخ نمایه سازی: 18 اسفند 1397
Abstract:
For electrically driven robot manipulators, a dynamic sliding mode control algorithm that avoids the chatteringproblem is proposed in this paper. The control signal is designed using voltage control strategy (VCS). This controlstrategy simplifies the control design to be free from the robot dynamics and improves the precision by taking thedynamics of motors into account. Finally, a numerical example is explained for demonstrating the applicability of theproposed scheme.
Keywords:
dynamic sliding mode control , electrically driven robots , voltage control strategy , chattering problem
Authors
Mohammad Reza Shokoohinia
Department of Electrical and Robotic Engineering, Shahrood University of Technology, ۳۶۱۹۹۹۵۱۶۱ Shahrood, Iran
Mohammad Mehdi Fateh
Department of Electrical and Robotic Engineering, Shahrood University of Technology, ۳۶۱۹۹۹۵۱۶۱ Shahrood, Iran