A COMPARISON BETWEEN SLIDING MODE CONTROL AND FEEDBACK LINEARIZATION

被引：0
|
作者：
Prasad, Gaya [1 ]
Kumar, Awadhesh [1 ]
机构：
[1] Madan Mohan Malaviya Univ Technol, Dept Elect Engn, Gorakhpur, Uttar Pradesh, India
来源：
2018 5TH IEEE UTTAR PRADESH SECTION INTERNATIONAL CONFERENCE ON ELECTRICAL, ELECTRONICS AND COMPUTER ENGINEERING (UPCON) | 2018年
关键词：
SMC; Feedback Linearization; Adaptive control; Robotic Manipulator; robust control;
D O I：
暂无
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
in this paper we take a 2-link robotic Manipulator system, which is nonlinear in nature. First we convert the nonlinear system into linear system. To control the system torque is derived with linear approximation. SMC and Feedback Linearization is applied to track the desired trajectory. The desired trajectories is taken with different frequencies and the controlling of two scheme with different trajectories is evaluated with the help of Simulink. A comparison between SMC and Feedback linearization is detailed with regard different frequencies of desired trajectory.
引用
收藏
页码：697 / 701
页数：5
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