Adaptive Sliding Mode Control Design of a SCARA Robot Manipulator System Under Parametric Variations
– The sliding mode control (SMC) has yet proven its efficiency through several theoretical researches. Indeed, the robotic field is recognized as one of the main SMC portals on practical implementations. The interest of this work consists in testing the SMC robustness and its reliability versus th...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Eastern Macedonia and Thrace Institute of Technology
2015-12-01
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| Series: | Journal of Engineering Science and Technology Review |
| Subjects: | |
| Online Access: | http://www.jestr.org/downloads/Volume8Issue5/fulltext85162015.pdf |
| Summary: | – The sliding mode control (SMC) has yet proven its efficiency through several theoretical researches. Indeed, the
robotic field is recognized as one of the main SMC portals on practical implementations. The interest of this work
consists in testing the SMC robustness and its reliability versus the parameters variation and model uncertainties.
In this paper, an algorithm for trajectory tracking task of robot manipulators based on a SMC has been proposed.
Then, aiming to deal with the presence of disturbances and parametric modeling uncertainties, the adopted control law
has been extended to an adaptive SMC version based integral sliding surface, where the selection of the parameters
adaptation law has been detailed. It has been proven that the adaptive control design can stabilize both position and
velocity of the system, where the explicit use of the system dynamic model becomes no longer required. Simulation
results performed on a SCARA robot manipulator reveal improving control acting clearly denoted by the introduction of
the adaptive control design |
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| ISSN: | 1791-2377 1791-2377 |