چکیده مقاله
In this paper, after the introduction of the voltage based dynamic equations of robot manipulator, a fuzzy sliding mode controller has been designed for controlling the robot manipulator position In the proposed control, feedback linearization method, sliding mode control and first order takagi sugeno kang fuzzy systemare utilized In this method, the bounds of structural and non structural uncertainties are reduced by using feedback linearization method, and to overcome the remaining uncertainties, sliding mode control is employed Mathematical proof shows that the closed loop system with the proposed control has global asymptotic stability The presence of sliding mode control gives rise to the adverse phenomenon of chattering in the robotmanipulator position tracking Subsequently, to prevent the occurrence of chattering in control input, a firstordertakagi sugeno kang fuzzy approximator is utilized To compare the performance of the proposed controller with a torque based controller, a two link elbow robot manipulator is used as a case study The simulation results demonstrate the desirable performance of the voltage based fuzzy sliding mode controller
کلیدواژهها
نویسندگان
Mohammad Veysi
Department of Electrical Engineering, Shahid Sattari Aeronautical University of Science and Technology, Tehran, Iran
شیوه ارجاع
Veysi, Mohammad,1394,Fuzzy sliding mode control of robot manipulator,based on voltage control,International Conference on New Research Findings in Electrical Engineering and Computer Science,Tehran
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