چکیده مقاله
Nowadays, robotic manipulators have a lot of use in the industry and stability in tracking paths is one of the important aspects of controlling them In this paper, the first and second order sliding mode controllers for the 2 link robotic manipulator system are presented Sliding mode control SMC is considered as an effective tool in this control system However, the relevant chattering phenomenon reduces the speed and accuracy of the system To overcome this phenomenon and to track a desirable path, a super twisting algorithm for the second order sliding mode control is presented Stability analysis is performed using a lyapunov function for the proposed controllers In addition, the two provided controls are compared and simulation results using MATLAB software show their effects
کلیدواژهها
نویسندگان
Elaheh Rezazadeh
Urmia University of Technology Faculty of Electrical Engineering, Urmia University of Technology, Urmia, Iran
Hadiseh Babazadeh
Urmia University of Technology Faculty of Electrical Engineering, Urmia University of Technology, Urmia, Iran
شیوه ارجاع
Rezazadeh, Elaheh and Babazadeh, Hadiseh,1396,Design of first- and second-order sliding mode control for 2-link robotic manipulator,Fifth International Conference on Electrical and Computer Engineering with Emphasis on Indigenous Knowledge,Tehran
ارائهشده در
مجموعه مقالات پنجمین کنفرانس بین المللی مهندسی برق و کامپیوتر با تاکید بر دانش بومی19 بهمن 1396 · تهران