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Robust Model-Free Control for Robot Manipulator under Actuator Dynamics.
- Source :
-
Mathematical Problems in Engineering . 8/3/2020, p1-11. 11p. - Publication Year :
- 2020
-
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]
Details
- Language :
- English
- ISSN :
- 1024123X
- Database :
- Academic Search Index
- Journal :
- Mathematical Problems in Engineering
- Publication Type :
- Academic Journal
- Accession number :
- 144903219
- Full Text :
- https://doi.org/10.1155/2020/7417314