Adaptive Sliding Mode Control for Trajectory Tracking of Robot Manipulators

被引：0

作者：

Sassi, Ameur ^{[1
]}

Abdelkrim, Afef ^{[1
]}

机构：

[1] Univ Tunis El Manar, Natl Engn Sch Tunis ENIT, Res Lab Automat Control LARA, BP 37, Tunis 1002, Tunisia

来源：

2015 7th International Conference on Modelling, Identification and Control (ICMIC) | 2014年

关键词：

Sliding mode; Adaptation law; Robot manipulator; Chattering phenomenon; Lyapunov method; SYSTEMS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper introduces an adaptive sliding mode control (ASMC) law for a robot manipulator with a nonlinear uncertain model. Sliding mode control using a combined adaptive algorithm, is also studied. A stability analysis of the closed-loop system is developed based on the Lyapunov approach. The control system is designed and simulated by proposed ASMC for two degrees of freedom of robot, and the simulation results have shown that the proposed approach not only can effectively and quickly implement the trajectory tracking control of two manipulators, but also can reduce the chattering problems caused by characteristic of the traditional sliding mode control (SMC), and has robustness to the disturbance.

引用

页码：889 / 895

页数：7

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