Eliminating chattering phenomenon in sliding mode control of robot manipulators in the joint space using fuzzy logic | ||
| مکانیک سازه ها و شاره ها | ||
| مقاله 6، دوره 2، شماره 3، مهر 1391، صفحه 45-54 اصل مقاله (1.83 M) | ||
| نوع مقاله: مقاله مستقل | ||
| شناسه دیجیتال (DOI): 10.22044/jsfm.2013.154 | ||
| نویسندگان | ||
| محمد ویسی1؛ محمد رضا سلطانپور* 2 | ||
| 1دانشجوی کارشناسی ارشد مکاترونیک | ||
| 2استادیار دانشگاه هوایی شهید ستاری | ||
| چکیده | ||
| In industrial robotic manipulator, due to the presence of quite nonlinear dynamic and structural and nonstructural uncertainties, a precise model is not easily obtained. As a result, designing a controller with a suitable function based on system model is a challenging issue. Sliding mode control is a robust control with numerous applications which can overcome the aforementioned uncertainties. However, this control method has several defects such as chattering in input control in implementing stage. In this article, Fuzzy sliding mode control based on TSK method for controlling manipulator position tracking is suggested. This control method not only has advantages of sliding mode but also it has no chattering control effect in implementation process. To exhibit the function of sliding mode control, a case study is implemented on a robot manipulator with two revolute joints. The mathematical proofs and the simulation results reveal the desirable efficiency of Fuzzy sliding mode control. | ||
| کلیدواژه‌ها | ||
| بازوی ربات؛ فضای مفصلی؛ عدم قطعیت؛ کنترل مدلغزشی فازی؛ روش TSK | ||
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آمار تعداد مشاهده مقاله: 14,181 تعداد دریافت فایل اصل مقاله: 3,185 |
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