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| Sliding Mode Methodology Vs. Computed Torque Methodology Using MATLAB/SIMULINK and Their Integration into Graduate Nonlinear Control Courses
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Full
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Source |
International Journal of Engineering (IJE) |
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Table of Contents |
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Download
Complete Issue PDF(2.5MB) |
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Volume: 6 Issue: 3 |
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Pages: |
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Publication
Date: June 2012 |
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ISSN
(Online): 1985-2312 |
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Pages |
142 - 177 |
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Author(s) |
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Published
Date |
20-06-2012 |
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Publisher |
CSC
Journals, Kuala Lumpur,
Malaysia |
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ADDITIONAL
INFORMATION |
| Keywords Abstract References Cited by Related Articles Collaborative
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KEYWORDS: MATLAB/SIMULINK, PUMA 560 Robot Manipulator, Nonlinear Position Control, Method, Sliding Mode Control, Computed Torque Control, Chattering Free |
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| Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of the most important challenging works. This paper focuses on the design, implementation and analysis of a chattering free sliding mode controller for highly nonlinear dynamic PUMA robot manipulator and compare to computed torque controller, in presence of uncertainties. In order to provide high performance nonlinear methodology, sliding mode controller and computed torque controller are selected. Pure sliding mode controller and computed torque controller can be used to control of partly known nonlinear dynamic parameters of robot manipulator. Conversely, pure sliding mode controller is used in many applications; it has an important drawback namely; chattering phenomenon which it can causes some problems such as saturation and heat the mechanical parts of robot manipulators or drivers. In order to reduce the chattering this research is used the linear saturation function boundary layer method instead of switching function method in pure sliding mode controller. These simulation models are developed as a part of a software laboratory to support and enhance graduate/undergraduate robotics courses, nonlinear control courses and MATLAB/SIMULINK courses at research and development company (SSP Co.) research center, Shiraz, Iran. |
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| Farzin Piltan : Colleagues
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| Sajad Rahmdel : Colleagues
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| Saleh Mehrara : Colleagues
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| Reza Bayat : Colleagues
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