A novel adaptive controller for two-degree of freedom polar robot with unknown perturbations |
| |
Authors: | Mohammad Reza Faieghi Dumitru Baleanu |
| |
Institution: | a Islamic Azad University, Faculty of Electrical Engineering, Miyaneh, Iran b Islamic Azad University, Toyserkan Branch, Young Researchers Club, Toyserkan, Iran c Cankaya University, Ogretmenler Cad. No: 14 06530, Balgat, Ankara, Turkey d Institute of Space Sciences, P.O. Box MG-23, R76900 Magurele-Bucharest, Romania |
| |
Abstract: | In industrial applications, the performance of robot manipulators is always affected due to the presence of uncertainties and disturbances. This paper proposes a novel adaptive control scheme for robust control of robotic manipulators perturbed by unknown uncertainties and disturbances. First, an active sliding mode controller is designed and a sufficient condition is obtained guarantying reachability of the states to hit the sliding surface in finite time. Then, based on a Lyapunov function candidate an adaptive switching gain is derived which make the controller capable to bring the tracking error to zero without any disturbance exerted upon the stability. By virtue of this controller it can be shown that the controller can track the desired trajectories even in the presence of unknown perturbations. For the problem of determining the control parameters Particle Swarm Optimization (PSO) algorithm has been employed. Our theoretic achievements are verified by numerical simulations. |
| |
Keywords: | Active sliding mode control (ASMC) Robotic manipulators Lyapunov stability theorem Adaptation law Particle swarm optimization (PSO) |
本文献已被 ScienceDirect 等数据库收录! |
|