Design a Sliding Mode Adaptive Controller For a Two-Link Robot
عنوان مقاله: Design a Sliding Mode Adaptive Controller For a Two-Link Robot
شناسه ملی مقاله: ICELE02_335
منتشر شده در دومین کنفرانس بین المللی مهندسی برق در سال 1396
شناسه ملی مقاله: ICELE02_335
منتشر شده در دومین کنفرانس بین المللی مهندسی برق در سال 1396
مشخصات نویسندگان مقاله:
Hamidreza Pourmahdian - Department of Electrical Engineering, North Tehran branch, Islamic Azad University, Tehran, Iran
Shoorangiz Shams Shamsabad Farahani - Department of Electrical Engineering, Islamshahr branch, Islamic Azad University, Islamshahr, Iran
Mohammad Ghanbarisabagh - Department of Electrical Engineering, North Tehran branch, Islamic Azad University, Tehran, Iran
خلاصه مقاله:
Hamidreza Pourmahdian - Department of Electrical Engineering, North Tehran branch, Islamic Azad University, Tehran, Iran
Shoorangiz Shams Shamsabad Farahani - Department of Electrical Engineering, Islamshahr branch, Islamic Azad University, Islamshahr, Iran
Mohammad Ghanbarisabagh - Department of Electrical Engineering, North Tehran branch, Islamic Azad University, Tehran, Iran
This paper deals with sliding mode adaptive control techniques to design a control law for robotic manipulators. The performance and applicability of the proposed method is demonstrated for a two degree of freedom robot. First, a sliding mode adaptive controller is designed to govern the dynamic model of robot, then the performance of the proposed robot is demonstrated through simulation studies. This method deals with adaptive and sliding mode control of robotic manipulators for trajectory tracking
کلمات کلیدی: sliding mode control, adaptive control, robotic manipulators
صفحه اختصاصی مقاله و دریافت فایل کامل: https://civilica.com/doc/698617/