Earticle

초록

영어

In this research, intelligent sliding mode controls are presented as robust controls for robot manipulators. The objective of the study is to design controls for robot manipulators without the knowledge of the boundary of the uncertainties by using an intelligent sliding mode control (SMC) while elucidating the robustness of the fuzzy SMC. A sliding mode control provides for unlimited accuracy in presence of bounded disturbance, although the sliding mode controller also causes chattering. Chattering is undesirable for use with actual component, since it might causes damage to them with a subsequent loss of accuracy. Such chatter is caused by overestimation of the controller gain. An intelligent sliding mode is proposed as a solution to the problems created by chattering; to illustrate, a continuum robot manipulator is simulated with an intelligent sliding mode control. The performance of intelligent gain sliding mode controller is demonstrated through the simulation results. The results of the simulations show the effectiveness for chattering mitigation by means of avoiding overestimation, and the robustness of an intelligent sliding mode control.

목차

Abstract
 1. Introduction
 2. Theory
 3. Methodology
 4. Results and Discussion
 5. Conclusion
 References

키워드

저자

• Azita Yazdanpanah [ Engineering faculty of Bushehr’s Payam-e-Nour University(asalooyeh) ]
• Dr. Abbas ali Rezaee [ Department of Computer Engineering, Payame Noor University, 19395-3697, Tehran, Iran ]
• Dr. Ahmad Faraahi [ Department of Computer Engineering, Payame Noor University, 19395-3697, Tehran, Iran ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Hybrid Information Technology

• 간기

  격월간

• pISSN

  1738-9968

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605