دورية أكاديمية
أعرض في EDS

Adaptive Synchronization Sliding Mode Control for an Uncertain Dual-Arm Robot with Unknown Control Direction

التفاصيل البيبلوغرافية
العنوان: Adaptive Synchronization Sliding Mode Control for an Uncertain Dual-Arm Robot with Unknown Control Direction
المؤلفون: Duc Thien Tran, Hoang Vu Dao, Kyoung Kwan Ahn
المصدر: Applied Sciences, Vol 13, Iss 13, p 7423 (2023)
بيانات النشر: MDPI AG, 2023.
سنة النشر: 2023
المجموعة: LCC:Technology
LCC:Engineering (General). Civil engineering (General)
LCC:Biology (General)
LCC:Physics
LCC:Chemistry
مصطلحات موضوعية: dual-arm manipulator, unknown control directions, adaptive synchronization sliding mode control, Nussbaum gain function, Lyapunov stability theory, Technology, Engineering (General). Civil engineering (General), TA1-2040, Biology (General), QH301-705.5, Physics, QC1-999, Chemistry, QD1-999
الوصف: In this paper, an adaptive synchronization sliding mode control is proposed for a dual-arm robot against parameter variations, external disturbance, and unknown control directions. The proposed control is designed by using cross-coupling error and sliding mode control to guarantee the position synchronization of the dual-arm manipulator. The control objective of the proposed control is to synchronize the movement of both arms beside the trajectory tracking issue. In order to manage the lumped uncertainties caused by the parameter variations, external disturbance, and unknown control directions, an extended state observer is used in the proposed control. It enhances the stability of the controlled system against uncertainties. Additionally, a Nussbaum gain function is integrated into the control algorithm to deal with the issue of unknown control direction. Lyapunov stability theory is used to demonstrate the stability of the controlled system. Finally, some simulations are implemented in MATLAB Simulink with a dual 3-DOF manipulator system. The results of the proposed control are compared to other controllers to verify its effectiveness.
نوع الوثيقة: article
وصف الملف: electronic resource
اللغة: English
تدمد: 2076-3417
Relation: https://www.mdpi.com/2076-3417/13/13/7423; https://doaj.org/toc/2076-3417
DOI: 10.3390/app13137423
URL الوصول: https://doaj.org/article/18547cf15d814047a18f141b213f0297
رقم الأكسشن: edsdoj.18547cf15d814047a18f141b213f0297
قاعدة البيانات: Directory of Open Access Journals
الوصف
تدمد:20763417
DOI:10.3390/app13137423