Practical Position Tracking Control of a Robotic Manipulator Based on Fractional Order Sliding Mode Controller
نویسندگان
چکیده
منابع مشابه
Observer-based sliding mode control of a robotic manipulator
This paper presents a new approach for the design of variable structure control (VSC) of nonlinear systems. The approach is based on estimation of joint acceleration signals with introduction of load estimation with the asymptotic observer. The control system is insensitive to parameter variations for a chosen switching hypersurface in conditions when it is reached by the dynamic motion with th...
متن کاملTrajectory Tracking of a 2-Link Robotic Manipulator Using Adaptive Terminal Sliding Mode Controller
This paper proposes an adaptive terminal sliding mode controller which combines adaptive control and sliding mode control to control a 2-link nonlinear robotic manipulator with uncertain parameters. We use an adaptive algorithm based on the concept of sliding mode control to alleviate the chattering phenomenon of control input. Adaptive laws are developed to obtain the gain of switching input a...
متن کاملRobust Position Control of PMSM Using Fractional-Order Sliding Mode Controller
and Applied Analysis 3 Fractional calculus is a generalization of integer-order integration and differentiation to non-integer-order ones. Let symbol aDt denote the fractional-order fundamental operator, defined as follows 20, 21 : D aDt ⎧ ⎪ ⎪⎨ ⎪ ⎪⎩ d dtλ R λ > 0, 1 R λ 0, ∫ t a dτ −λ R λ < 0, 2.1 where a and t are the limits of the operation, λ is the order of the operation, and generally λ ∈ ...
متن کاملSLIDING MODE CONTROL BASED ON FRACTIONAL ORDER CALCULUS FOR DC-DC CONVERTERS
The aim of this paper is to design a Fractional Order Sliding Mode Controllers (FOSMC)for a class of DC-DC converters such as boost and buck converters. Firstly, the control lawis designed with respect to the properties of fractional calculus, the design yields an equiv-alent control term with an addition of discontinuous (attractive) control law. Secondly, themathematical proof of the stabilit...
متن کاملHybrid Neural Sliding Mode Controller Design for Robotic Manipulator
In this paper, we will propose a cooperative control approach that is based on the hybrid grey-neural network with sliding mode control (HGNS) methodology. The main purpose is to eliminate the chattering phenomenon such that the two-link robotic manipulator has a superior tracking response. Moreover, the system performance obtained via the method of the HGNS can be improved. In the present appr...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Elektronika ir Elektrotechnika
سال: 2018
ISSN: 2029-5731,1392-1215
DOI: 10.5755/j01.eie.24.5.21838