Variable structure model reference adaptive control using only input and output measurements for two real one-link manipulators

Nouri, Ahmed Saïd; Hamerlain, Mustapha; Mira, C.; Lopez, P.

doi:10.1109/icsmc.1993.390757

Cited by 7 publications

(2 citation statements)

References 8 publications

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“…He has shown that with the new method applied, the tracking errors of the joint variables converge to zero irrespective of whether there is persistent excitation; the transient response can be prescribed in advance, and performance is basically not affected by input disturbances. The second is the work proposed by Nouri [9], whose the objective is to present an experimental comparison between two different sliding surface algorithms applied to the two real one link manipulators. The first algorithm is a variable structure adaptive control with reference model using only the measurements of input and output; the other algorithm is a variable structure adaptive control with reference model using the full state vector.…”

Section: Introductionmentioning

confidence: 99%

Robust control of robotic manipulators based on left inverse system and variable structure model reference adaptive control

Dias

Queiroz

Araujo

et al. 2016

Adaptive Control & Signal

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This work proposes a control structure to be applied to robotic manipulators, which are articulated mechanical systems composed of links connected by joints. The proposed controller can be divided into two parts. The first one is a left inverse system, which is used to decouple the dynamic behavior of the joints. The second is a sliding mode controller, which is applied for each decoupled joint. It is important to note that the proposed structure, using only input/output measurements, reduces the control signal 'chattering', and it is robust to parametric uncertainties. Besides all the characteristics presented, the proposed structure simplifies the design of sliding mode controller to be applied in robotic manipulators. All these features are verified by simulations.

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Section: Introductionmentioning

confidence: 99%

Robust control of robotic manipulators based on left inverse system and variable structure model reference adaptive control

Dias

Queiroz

Araujo

et al. 2016

Adaptive Control & Signal

View full text Add to dashboard Cite

show abstract

“…SMC as a branch of robust control is a powerful technique to control nonlinear systems with uncertainty. The theory of SMC has been developed firstly in Soviet Union by Emelyanov, introduced after by Utkin [11], [12], [13], and more recently studied by several authors [14], [15], [16], [17], [18]. The SMC can offer many good properties, such as insensitivity to parameter variations, external disturbance rejection, and fast dynamic response.…”

Section: Introductionmentioning

confidence: 99%

Speed Control of Induction Motor Using New Sliding Mode Control Technique

Ahmed¹,

Ajangnay²,

Mohamed³

et al. 2010

IJEEE

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Induction Motors have been used as the workhorse in the industry for a long time due to its easy build, high robustness, and generally satisfactory efficiency. However, they are significantly more difficult to control than DC motors. One of the problems which might cause unsuccessful attempts for designing a proper controller would be the time varying nature of parameters and variables which might be changed while working with the motion systems. One of the best suggested solutions to solve this problem would be the use of Sliding Mode Control (SMC). This paper presents the design of a new controller for a vector control induction motor drive that employs an outer loop speed controller using SMC. Several tests were performed to evaluate the performance of the new controller method, and two other sliding mode controller techniques. From the comparative simulation results, one can conclude that the new controller law provides high performance dynamic characteristics and is robust with regard to plant parameter variations.

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Generalized variable structure control of two one-link manipulators in two operating modes

Nouri

Lopez

Proceedings of 32nd IEEE Conference on Decision and Control

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Variable structure model reference adaptive control using only input and output measurements for two real one-link manipulators

Cited by 7 publications

References 8 publications

Robust control of robotic manipulators based on left inverse system and variable structure model reference adaptive control

Robust control of robotic manipulators based on left inverse system and variable structure model reference adaptive control

Speed Control of Induction Motor Using New Sliding Mode Control Technique

Generalized variable structure control of two one-link manipulators in two operating modes

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