ADAPTIVE FUZZY SLIDING MODE CONTROL OF A ROBOTIC MANIPULATOR IN TASK-SPACE USING VOLTAGE CONTROL STRATEGY

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

FATEH M.M.; ASRARI H.; KHORASHADIZADEH S.

Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: JOURNAL OF SOLID AND FLUID MECHANICS Year:2015 | Volume:5 | Issue:3 Page(s): 17-26

Download Full-Text

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Persian Verion

View:

1,067

Download:

Cites:

Information Journal Paper

Title

ADAPTIVE FUZZY SLIDING MODE CONTROL OF A ROBOTIC MANIPULATOR IN TASK-SPACE USING VOLTAGE CONTROL STRATEGY

Author(s)

FATEH M.M. | ASRARI H. | KHORASHADIZADEH S. | Issue Writer Certificate

Keywords

SLIDIG MODE CONTROLQ2

ADAPTIVE FUZZY CONTROLQ2

VOLTAGE CONTROL STRATEGYQ2

TASK-SPACE CONTROLQ2

ARTICULATED ROBOTQ2

Abstract

Actuators of robot operate in the joint-space while the end-effector of robot is controlled in the task-space. Therefore, designing a control system for a robotic manipulator in the task-space requires the jacobian matrix for transforming joint-space to task-space. Using an imprecise Jacobian matrix and the presence of uncertainties degrade the control performance. Uncertainties include the parametric uncertainty, unmodelled dynamics and external disturbance. In this paper, a novel decentralized adaptive fuzzy sliding mode control approach in the task-space is presented using the VOLTAGE CONTROL STRATEGY. The control design is simple, free from model and robust agains uncertainties. These advantages are because of using VOLTAGE CONTROL STRATEGY instead of commonly used torque control strategy. The case study is an ARTICULATED ROBOT manipulator driven by permanent magnet DC motors. The stability analysis, simulation results and comparison with a torque based control method are presented to verify the effectiveness of the control method. Simulation results show the effectiveness of proposed control method.

Cites

No record.

References

No record.

Cite

APA: Copy

FATEH, M.M., ASRARI, H., & KHORASHADIZADEH, S.. (2015). ADAPTIVE FUZZY SLIDING MODE CONTROL OF A ROBOTIC MANIPULATOR IN TASK-SPACE USING VOLTAGE CONTROL STRATEGY. JOURNAL OF SOLID AND FLUID MECHANICS, 5(3), 17-26. SID. https://sid.ir/paper/212769/en

Vancouver: Copy

FATEH M.M., ASRARI H., KHORASHADIZADEH S.. ADAPTIVE FUZZY SLIDING MODE CONTROL OF A ROBOTIC MANIPULATOR IN TASK-SPACE USING VOLTAGE CONTROL STRATEGY. JOURNAL OF SOLID AND FLUID MECHANICS[Internet]. 2015;5(3):17-26. Available from: https://sid.ir/paper/212769/en

IEEE: Copy

M.M. FATEH, H. ASRARI, and S. KHORASHADIZADEH, “ADAPTIVE FUZZY SLIDING MODE CONTROL OF A ROBOTIC MANIPULATOR IN TASK-SPACE USING VOLTAGE CONTROL STRATEGY,” JOURNAL OF SOLID AND FLUID MECHANICS, vol. 5, no. 3, pp. 17–26, 2015, [Online]. Available: https://sid.ir/paper/212769/en

Related Journal Papers