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Model-free tracking control via adaptive dynamic sliding mode control with application to robotic systems | ||
| 𝕴𝖓𝖙𝖊𝖗𝖓𝖆𝖙𝖎𝖔𝖓𝖆𝖑 𝕵𝖔𝖚𝖗𝖓𝖆𝖑 𝖔𝖋 𝕴𝖓𝖉𝖚𝖘𝖙𝖗𝖎𝖆𝖑 𝕰𝖑𝖊𝖈𝖙𝖗𝖔𝖓𝖎𝖈𝖘, 𝕮𝖔𝖓𝖙𝖗𝖔𝖑 𝖆𝖓𝖉 𝕺𝖕𝖙𝖎𝖒𝖎𝖟𝖆𝖙𝖎𝖔𝖓 | ||
| مقالات آماده انتشار، پذیرفته شده، انتشار آنلاین از تاریخ 24 تیر 1399 اصل مقاله (677.61 K) | ||
| نوع مقاله: Original Article | ||
| شناسه دیجیتال (DOI): 10.22111/ieco.2020.31596.1207 | ||
| نویسندگان | ||
mohammad reza shokoohinia  1؛ Mohammad mehdi Fateh2
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| 1Department of Electrical and Robatic Engineering ,Shahrood University of Technology,Iran | ||
| 2Department of Electrical and Robatic Enbineering ,Shahrood University of Technology,Iran | ||
| چکیده | ||
| In this paper, a novel model-free control scheme is developed to enhance the tracking performance of robotic systems based on an adaptive dynamic sliding mode control and voltage control strategy. In the voltage control strategy, actuator dynamics have not been excluded. In other words, instead of the applied torques to the robot joints, motor voltages are computed by the control law. First, a dynamic sliding mode control is designed for the robotic system. Then, to enhance the tracking performance of the system, an adaptive mechanism is developed and integrated with the dynamic sliding mode control. Since the lumped uncertainty is unknown in practical applications, the uncertainty upper bound is necessary in the design of the dynamic sliding mode controller. Hence, the lumped uncertainty is estimated by an adaptive law. The stability of the closed-loop system is proved based on the Lyapunov stability theorem. The simulation results demonstrate the superior performance of the proposed adaptive dynamic sliding mode control strategy. | ||
| کلیدواژه‌ها | ||
| Model-Free Tracking Control؛ Adaptive Dynamic Sliding Mode Control؛ Robotic Systems؛ Voltage Control Strategy | ||
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آمار تعداد مشاهده مقاله: 156 تعداد دریافت فایل اصل مقاله: 46 |
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