Robust Model-Free Control for Robot Manipulator under Actuator Dynamics

Robust Model-Free Control for Robot Manipulator under Actuator Dynamics

An intelligent proportional-derivative sliding mode controller (i-PDSMC) is presented to overcome the unmodeled complexity of the robot manipulator under an actuator. i-PDSMC is a free model intelligent control based on the ultralocal, sliding mode, and PD control structure. A stability condition is...

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Main Authors: Dorsaf Elleuch, Tarak Damak
Format: Article
Language:English
Published: Hindawi Limited 2020-01-01
Series:Mathematical Problems in Engineering
Online Access:http://dx.doi.org/10.1155/2020/7417314
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spelling doaj-db8d08b4c705427d8302b18e90b8dff92020-11-25T03:19:51ZengHindawi LimitedMathematical Problems in Engineering1024-123X1563-51472020-01-01202010.1155/2020/74173147417314Robust Model-Free Control for Robot Manipulator under Actuator DynamicsDorsaf Elleuch0Tarak Damak1University of Sfax, National Engineering School of Sfax (ENIS), Laboratory of Sciences and Techniques of Automatic Control & Computer Engineering (Lab-STA), Tunisia B. P. 1173, 3038 Sfax, TunisiaUniversity of Sfax, National Engineering School of Sfax (ENIS), Laboratory of Sciences and Techniques of Automatic Control & Computer Engineering (Lab-STA), Tunisia B. P. 1173, 3038 Sfax, TunisiaAn intelligent proportional-derivative sliding mode controller (i-PDSMC) is presented to overcome the unmodeled complexity of the robot manipulator under an actuator. i-PDSMC is a free model intelligent control based on the ultralocal, sliding mode, and PD control structure. A stability condition is determined by the Lyapunov theory. A comparative study between a classical PD, an intelligent PD control, and i-PDSMC is done through a robot manipulator under actuators. The simulation results prove that the proposed controller is more robust to trajectory tracking under parameter variations and external disturbances.http://dx.doi.org/10.1155/2020/7417314
collection DOAJ
language English
format Article
sources DOAJ
author Dorsaf Elleuch
Tarak Damak
spellingShingle Dorsaf Elleuch
Tarak Damak
Robust Model-Free Control for Robot Manipulator under Actuator Dynamics
Mathematical Problems in Engineering
author_facet Dorsaf Elleuch
Tarak Damak
author_sort Dorsaf Elleuch
title Robust Model-Free Control for Robot Manipulator under Actuator Dynamics
title_short Robust Model-Free Control for Robot Manipulator under Actuator Dynamics
title_full Robust Model-Free Control for Robot Manipulator under Actuator Dynamics
title_fullStr Robust Model-Free Control for Robot Manipulator under Actuator Dynamics
title_full_unstemmed Robust Model-Free Control for Robot Manipulator under Actuator Dynamics
title_sort robust model-free control for robot manipulator under actuator dynamics
publisher Hindawi Limited
series Mathematical Problems in Engineering
issn 1024-123X
1563-5147
publishDate 2020-01-01
description An intelligent proportional-derivative sliding mode controller (i-PDSMC) is presented to overcome the unmodeled complexity of the robot manipulator under an actuator. i-PDSMC is a free model intelligent control based on the ultralocal, sliding mode, and PD control structure. A stability condition is determined by the Lyapunov theory. A comparative study between a classical PD, an intelligent PD control, and i-PDSMC is done through a robot manipulator under actuators. The simulation results prove that the proposed controller is more robust to trajectory tracking under parameter variations and external disturbances.
url http://dx.doi.org/10.1155/2020/7417314
work_keys_str_mv AT dorsafelleuch robustmodelfreecontrolforrobotmanipulatorunderactuatordynamics
AT tarakdamak robustmodelfreecontrolforrobotmanipulatorunderactuatordynamics
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