شماره ركورد كنفرانس :
3723
عنوان مقاله :
طراحي يك كنترل كننده مدلغزشي تطبيقي براي يك ربات دولينكي
عنوان به زبان ديگر :
Design a Sliding Mode Adaptive Controller For a Two-Link Robot
پديدآورندگان :
Pourmahdian Hamidreza Hr.pourmahdian@gmail.com Department of Electrical Engineering, Islamshahr branch, Islamic Azad University, Islamshahr, Iran , Shams Shamsabad Farahani Shoorangiz shoorangiz_shams@yahoo.com, shams@iiau.ac.ir Department of Electrical Engineering, Islamshahr branch, Islamic Azad University, Islamshahr, Iran , Ghanbarisabagh Mohammad m.ghanbarisabagh@gmail.com Department of Electrical Engineering, Islamshahr branch, Islamic Azad University, Islamshahr, Iran
كليدواژه :
sliding mode control , adaptive control , robotic manipulators
عنوان كنفرانس :
دومين كنفرانس بين المللي در مهندسي برق
چكيده فارسي :
This paper deals with sliding mode adaptive control techniques to design a control law for robotic manipulators. The performance and applicability of the proposed method is demonstrated for a two degree of freedom robot. First, a sliding mode adaptive controller is designed to govern the dynamic model of robot, then the performance of the proposed robot is demonstrated through simulation studies. This method deals with adaptive and sliding mode control of robotic manipulators for trajectory tracking.
چكيده لاتين :
This paper deals with sliding mode adaptive control techniques to design a control law for robotic manipulators. The performance and applicability of the proposed method is demonstrated for a two degree of freedom robot. First, a sliding mode adaptive controller is designed to govern the dynamic model of robot, then the performance of the proposed robot is demonstrated through simulation studies. This method deals with adaptive and sliding mode control of robotic manipulators for trajectory tracking.
