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This paper presents a neuro-sliding mode control method for a robot manipulator. The sliding mode controller requires to identify robot models to lessen the work of the controller although it can be used as a non model-based nonlinear controller. Selection of the gain for the nonlinear function becomes important and affects the performance. To make it easy of selecting the gain, a neural network is...
This paper proposes a novel adaptive robust PID controller to deal with the trajectory tracking of robot manipulators with nonlinear uncertainties and disturbances. Based on the classical PID controller, an adaptive PID controller is designed to deal with the nonlinear uncertainties of the system. The adaptation mechanism which is motivated from the sliding mode control derived for tuning three PID...
This paper addresses the robust trajectory tracking problem for a redundantly actuated omnidirectional mobile manipulator in the presence of uncertainties and disturbances. The development of control algorithms is based on sliding mode control (SMC) technique. First, a dynamic model is derived based on the practical omnidirectional mobile manipulator system. Then, a SMC scheme, based on the fixed...
In this paper, active control of space manipulator with flexible-link and flexible-joint was investigated based on the singular perturbation method. Owing to the combined effects of the link and joint flexibilities, the dynamics model of this type of manipulator became more complex and led to a series of unsolved control system. To simplify the design of control system, singular perturbation method...
In this paper, an adaptive fuzzy sliding mode controller is proposed for a three-axis SCARA manipulator. The proposed controller possesses the advantages of adaptive control, fuzzy control, and sliding mode control. Based on the concept of sliding mode, fuzzy rules are developed to alleviate the input chattering effectively by using the developed adaptation law. The stability of the three-axis SCARA...
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