Title :
A new approach of sliding motion robot control using bond graph
Author :
Gal, Ioan Alexandru ; Munteanu, Radu Ioan ; Melinte, Octavian ; Vladareanu, Luige
Author_Institution :
Inst. of Solid Mech., Bucharest, Romania
Abstract :
In this paper we used bond graphs to design a sliding motion control. After building the bond graph database with the new elements, we designed a 2DOF walking robot which we controlled. Along with a fuzzy control law that improves the tracking speed, we eliminated the overrides that appear in controlling the foot when disturbances appear. Compared to others we also achieved a lower error rate and a better time in reaching the desired position.
Keywords :
bond graphs; control system synthesis; fuzzy control; mobile robots; motion control; position control; variable structure systems; velocity control; 2DOF walking robot; bond graph database; error rate; fuzzy control law; sliding motion control design; tracking speed; Dynamics; Joints; Legged locomotion; Motion control; Torque; Bond Graph; Dynamic Control; Fuzzy Control; Sliding Motion Control;
Conference_Titel :
Advanced Topics in Electrical Engineering (ATEE), 2013 8th International Symposium on
Conference_Location :
Bucharest
Print_ISBN :
978-1-4673-5979-5
DOI :
10.1109/ATEE.2013.6563515
