Sliding Mode Controller Design for Flexible Joint Robot
This paper suggests a flexible joint robot operated by brushed Direct Current (DC) motor model. Due to complex high-order, nonlinear dynamical system which operating under parameter’s uncertainty, sliding mode control (SMC) used to solve this problem of control the flexible joint robot. The SMC meth...
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| Format: | Article |
| Language: | English |
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Unviversity of Technology- Iraq
2018-07-01
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| Series: | Engineering and Technology Journal |
| Subjects: | |
| Online Access: | https://etj.uotechnology.edu.iq/article_175173_da5c4ac6a9c0647a67b45fa31ecd8a42.pdf |
| _version_ | 1797326002133663744 |
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| author | Ivan Gorial |
| author_facet | Ivan Gorial |
| author_sort | Ivan Gorial |
| collection | DOAJ |
| description | This paper suggests a flexible joint robot operated by brushed Direct Current (DC) motor model. Due to complex high-order, nonlinear dynamical system which operating under parameter’s uncertainty, sliding mode control (SMC) used to solve this problem of control the flexible joint robot. The SMC method is identified as one of the effective method to design robust control for the flexible joint robot, which based on t using a Low Pass Filter (LPF) with suitable time constant. The mathematical model is presented clearly and the simulations together with their analysis are done using MATLAB software. Simulation results display the efficacy of the designed robust control in stabilizing the system states and forcing the link side angle to converge to the desired value with appropriate control effort. |
| first_indexed | 2024-03-08T06:17:20Z |
| format | Article |
| id | doaj.art-45e383d4dd844f869a762e0280f91882 |
| institution | Directory Open Access Journal |
| issn | 1681-6900 2412-0758 |
| language | English |
| last_indexed | 2024-03-08T06:17:20Z |
| publishDate | 2018-07-01 |
| publisher | Unviversity of Technology- Iraq |
| record_format | Article |
| series | Engineering and Technology Journal |
| spelling | doaj.art-45e383d4dd844f869a762e0280f918822024-02-04T17:16:16ZengUnviversity of Technology- IraqEngineering and Technology Journal1681-69002412-07582018-07-01367A73374110.30684/etj.36.7A.5175173Sliding Mode Controller Design for Flexible Joint RobotIvan Gorial0Department of Control and Systems Engineering, Mechatronics Engineering Branch, Technology University, Baghdad, IraqThis paper suggests a flexible joint robot operated by brushed Direct Current (DC) motor model. Due to complex high-order, nonlinear dynamical system which operating under parameter’s uncertainty, sliding mode control (SMC) used to solve this problem of control the flexible joint robot. The SMC method is identified as one of the effective method to design robust control for the flexible joint robot, which based on t using a Low Pass Filter (LPF) with suitable time constant. The mathematical model is presented clearly and the simulations together with their analysis are done using MATLAB software. Simulation results display the efficacy of the designed robust control in stabilizing the system states and forcing the link side angle to converge to the desired value with appropriate control effort.https://etj.uotechnology.edu.iq/article_175173_da5c4ac6a9c0647a67b45fa31ecd8a42.pdfsmcflexible joint robotdc-motorlpf |
| spellingShingle | Ivan Gorial Sliding Mode Controller Design for Flexible Joint Robot Engineering and Technology Journal smc flexible joint robot dc-motor lpf |
| title | Sliding Mode Controller Design for Flexible Joint Robot |
| title_full | Sliding Mode Controller Design for Flexible Joint Robot |
| title_fullStr | Sliding Mode Controller Design for Flexible Joint Robot |
| title_full_unstemmed | Sliding Mode Controller Design for Flexible Joint Robot |
| title_short | Sliding Mode Controller Design for Flexible Joint Robot |
| title_sort | sliding mode controller design for flexible joint robot |
| topic | smc flexible joint robot dc-motor lpf |
| url | https://etj.uotechnology.edu.iq/article_175173_da5c4ac6a9c0647a67b45fa31ecd8a42.pdf |
| work_keys_str_mv | AT ivangorial slidingmodecontrollerdesignforflexiblejointrobot |