DocumentCode
621471
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
fYear
2013
fDate
23-25 May 2013
Firstpage
1
Lastpage
6
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Topics in Electrical Engineering (ATEE), 2013 8th International Symposium on
Conference_Location
Bucharest
Print_ISBN
978-1-4673-5979-5
Type
conf
DOI
10.1109/ATEE.2013.6563515
Filename
6563515
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