1. Robust Model-Free Control for Robot Manipulator under Actuator Dynamics.
- Author
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Elleuch, Dorsaf and Damak, Tarak
- Subjects
- *
ROBUST control , *ROBOT control systems , *MANIPULATORS (Machinery) , *INTELLIGENT control systems , *ACTUATORS - Abstract
An intelligent proportional-derivative sliding mode controller (i-PDSMC) is presented to overcome the unmodeled complexity of the robot manipulator under an actuator. i-PDSMC is a free model intelligent control based on the ultralocal, sliding mode, and PD control structure. A stability condition is determined by the Lyapunov theory. A comparative study between a classical PD, an intelligent PD control, and i-PDSMC is done through a robot manipulator under actuators. The simulation results prove that the proposed controller is more robust to trajectory tracking under parameter variations and external disturbances. [ABSTRACT FROM AUTHOR]
- Published
- 2020
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