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Robotics (Academic) Ebooks

Sliding Mode Control of Robot Manipulators via Intelligent Approaches

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A paper that addresses the sliding mode control (SMC) of n-link robot manipulators by using of intelligent methods including fuzzy logic and neural network strategies. Three control strategies were used. In the first was the design of a sliding mode control with a PID loop for robot manipulator which the gain of both SMC and PID was tuned on-line by using fuzzy approach. The proposed methodology use the advantages of the SMC, PID and Fuzzy controllers simultaneously, i. e., the robustness against the model uncertainty and external disturbances, quick response, and on-line automatic gain tuning, respectively. Finally, the simulation results in the application to a two-link robot resulting to the conventional SMC showing improvements in the case of using the proposed method. In the second case, a new combination of sliding mode control and fuzzy control incorporating sliding mode and fuzzy controller. Three practical aspects of robot manipulator control are considered restriction on input torque magnitude due to saturation of actuators, friction and modeling uncertainty.


S. Ehsan Shafiei

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