Robust model-free control for robot manipulator under actuator dynamics (Q2196959)
From MaRDI portal
scientific article
Language | Label | Description | Also known as |
---|---|---|---|
English | Robust model-free control for robot manipulator under actuator dynamics |
scientific article |
Statements
Robust model-free control for robot manipulator under actuator dynamics (English)
0 references
4 September 2020
0 references
Summary: An intelligent proportional-derivative sliding mode controller (i-PDSMC) is presented to overcome the unmodeled complexity of the robot manipulator under an actuator. i-PDSMC is a free model intelligent control based on the ultralocal, sliding mode, and PD control structure. A stability condition is determined by the Lyapunov theory. A comparative study between a classical PD, an intelligent PD control, and i-PDSMC is done through a robot manipulator under actuators. The simulation results prove that the proposed controller is more robust to trajectory tracking under parameter variations and external disturbances.
0 references