Robust Control for a Two DOF Robot Manipulator
In this paper, we present robust control techniques applied on a manipulator robot system: modified sliding mode control (MSMC) and backstepping control (BSC). The purpose is to evaluate SMC and BSC performances, taking into account the model uncertainties. Then, the obtained results of MSMC techniq...
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| Format: | Article |
| Language: | English |
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Wiley
2019-01-01
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| Series: | Journal of Electrical and Computer Engineering |
| Online Access: | http://dx.doi.org/10.1155/2019/3919864 |
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| _version_ | 1832547074029125632 |
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| author | Fatma Massaoudi Dorsaf Elleuch Tarak Damak |
| author_facet | Fatma Massaoudi Dorsaf Elleuch Tarak Damak |
| author_sort | Fatma Massaoudi |
| collection | DOAJ |
| description | In this paper, we present robust control techniques applied on a manipulator robot system: modified sliding mode control (MSMC) and backstepping control (BSC). The purpose is to evaluate SMC and BSC performances, taking into account the model uncertainties. Then, the obtained results of MSMC technique are compared with those of the adaptive sliding mode. Both methods have comparable simulation results which show a good quality of robustness. However, simulation results prove that the modified SMC is more robust, mostly under the effect of external variations and uncertainties. |
| format | Article |
| id | doaj-art-43f79937098d42c79a934a3fea64828c |
| institution | Kabale University |
| issn | 2090-0147 2090-0155 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Electrical and Computer Engineering |
| spelling | doaj-art-43f79937098d42c79a934a3fea64828c2025-02-03T06:46:04ZengWileyJournal of Electrical and Computer Engineering2090-01472090-01552019-01-01201910.1155/2019/39198643919864Robust Control for a Two DOF Robot ManipulatorFatma Massaoudi0Dorsaf Elleuch1Tarak Damak2University of Sfax, Ecole Nationale d’Ingénieurs de Sfax, Laboratoire des Sciences et Techniques de L’automatique et de L’informatique Industrielle, LR11ES50, 3038 Sfax, TunisiaUniversity of Sfax, Ecole Nationale d’Ingénieurs de Sfax, Laboratoire des Sciences et Techniques de L’automatique et de L’informatique Industrielle, LR11ES50, 3038 Sfax, TunisiaUniversity of Sfax, Ecole Nationale d’Ingénieurs de Sfax, Laboratoire des Sciences et Techniques de L’automatique et de L’informatique Industrielle, LR11ES50, 3038 Sfax, TunisiaIn this paper, we present robust control techniques applied on a manipulator robot system: modified sliding mode control (MSMC) and backstepping control (BSC). The purpose is to evaluate SMC and BSC performances, taking into account the model uncertainties. Then, the obtained results of MSMC technique are compared with those of the adaptive sliding mode. Both methods have comparable simulation results which show a good quality of robustness. However, simulation results prove that the modified SMC is more robust, mostly under the effect of external variations and uncertainties.http://dx.doi.org/10.1155/2019/3919864 |
| spellingShingle | Fatma Massaoudi Dorsaf Elleuch Tarak Damak Robust Control for a Two DOF Robot Manipulator Journal of Electrical and Computer Engineering |
| title | Robust Control for a Two DOF Robot Manipulator |
| title_full | Robust Control for a Two DOF Robot Manipulator |
| title_fullStr | Robust Control for a Two DOF Robot Manipulator |
| title_full_unstemmed | Robust Control for a Two DOF Robot Manipulator |
| title_short | Robust Control for a Two DOF Robot Manipulator |
| title_sort | robust control for a two dof robot manipulator |
| url | http://dx.doi.org/10.1155/2019/3919864 |
| work_keys_str_mv | AT fatmamassaoudi robustcontrolforatwodofrobotmanipulator AT dorsafelleuch robustcontrolforatwodofrobotmanipulator AT tarakdamak robustcontrolforatwodofrobotmanipulator |