Temat: Puma 560 - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Adaptive Neuro-Sliding Mode Control of PUMA 560 Robot Manipulator
Autorzy:: Medjebouri, A.
Mehennaoui, L.
Powiązania:: https://bibliotekanauki.pl/articles/384592.pdf
Data publikacji:: 2016
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: Puma 560
position control
NN
SMC
robustness
chattering
Opis:: The classical sliding mode control (SMC) is a robust control scheme widely used for dealing with nonlinear systems uncertainties and disturbances. However, the conventional SMC major drawback in real applications is the chattering phenomenon problem, which involves extremely high control activity due to the switched control input. To overcome this handicap, a pratical design method that combines an adaptive neural network and sliding mode control principles is proposed in this paper. The controller design is divided into two phases. First, the chattering phenomenon is removed by replacing the sign function included in the switched control by a continuous smooth function; basing on Lyapounov stability theorem. Then, an adaptive linear neural network, that has the role of online estimate the equivalent control in the neighborhood of the sliding manifold, is developed when the controlled plant is poorly modeled. Simulation results show clearly the satisfactory chattering free tracking performance of proposed controller when it is applied for the joints angular positions control of a 6-DOF PUMA 560 robot arm.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2016, 10, 4; 8-16
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Self-adaptive grey wolf optimization based adaptive fuzzy aided sliding mode control for robotic manipulator
Autorzy:: Kalshetti, Sunil C.
Dixit, S. K.
Powiązania:: https://bibliotekanauki.pl/articles/1839121.pdf
Data publikacji:: 2018
Wydawca:: Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:: PUMA 560 robotic arm
robotic manipulator
joint angle
fuzzy model
SAGWO
Opis:: As the robotic manipulators are highly nonlinear, it is a challenging task to design, in particular, the PUMA 560 robotic arm with acceptable performance. This paper intends to show the design and development of an adaptive sliding mode controller (SMC) for a robotic manipulator. Since it is not realistic to match the SMC operations with the system model at every time instant, this paper adopts fuzzy inference to replace the system model. This approach successfully achieves the objectives of the experiment, carried out in two stages. In the first stage, it acquires the precise characteristics of the system model for the diverse samples and adequately represents the robotic manipulator. Subsequently, we derive the acquired characteristics in the form of fuzzy rules. In the second stage, we represent the derived fuzzy rules on the basis on adaptive fuzzy membership functions. Further, the approach introduces the self-adaptiveness into a recent algorithm called Grey Wolf Optimization (GWO) in order to establish the adaptive fuzzy membership functions. We then compare the effectiveness of the proposed method with the identified experimental model and the known methods, like SMC, Fuzzy SMC (FSMC), and GWO-SMC. Finally, the comparison with the known methods establishes the effectiveness of the proposed SAGWO-FSMC technique.
Źródło:: Control and Cybernetics; 2018, 47, 4; 383-409
0324-8569
Pojawia się w:: Control and Cybernetics
Dostawca treści:: Biblioteka Nauki

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