Continuous terminal sliding mode control with perturbation estimation for a stewart platform

Luong, Tuan; Seo, Sunae; Jeon, Jeongmin; Park, Jeongyeol; Koo, Ja Choon; Choi, Hyouk Ryeol; Moon, Hyungpil

doi:10.1109/urai.2017.7992751

Cited by 4 publications

(1 citation statement)

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“…A limited time-persistent sliding mode regulator for a Stewart stage which was planned to make up for time-changing outside unsettling influences and unmodeled elements. The results show that the change in model boundary and time-differing outer unsettling influences (Luong et., 2017).…”

Section: Introductionmentioning

confidence: 91%

Design of PID, FLC and Sliding Mode Controller for 2-DOF Robotic Manipulator: A Comparative Study

Tomar

Mandava²,

Hemalatha³

et al. 2023

Int. j. math. eng. manag. sci.

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Controlling the manipulators in a precise manner is a challenging task. To overcome this difficulty around the world, many researchers have developed various control algorithms but are not providing optimal results. To obtain the optimal results in the current research the authors designed a proportional, integral, and derivative (PID) controller, fuzzy logic controller (FLC), and sliding mode controller (SMC) for a 2-DOF manipulator. The concept of forward and inverse kinematics was initially solved after assigning the D-H parameters for each joint. The purpose of forward or direct kinematics is to obtain the position and orientation of the end effector. Further, the concept of inverse kinematics is used to estimate the joint angles. Later on, the Lagrange-Euler formulation was used to calculate the dynamics of the 2-DOF manipulator, which is required to estimate the torque required for each joint of the robotics arm. The main goal of this research problem is to optimize the angular error between the two successive events. Finally, the developed algorithm is compared with the existing algorithms such as PID and Fuzzy logic controller.

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Section: Introductionmentioning

confidence: 91%