[PDF] Top 20 Control of a 2 D O F direct drive robot arm using integral sliding mode control

... To control the 2 DOF direct drive robot using Integral Sliding Mode Controller and to compare the performance between Integral SMC with other conventional controller... Scope of Project.[r] ... See full document

... To control the robot focusing only on balancing using Proportional Integral Sliding Mode Control (PISMC) ...by using Lyapunov’s second ... See full document

... robust integral sliding mode control is developed for a class of nonlinear dissipative switched systems with affine ...stable integral sliding surface is considered and the ... See full document

... adaptive integral sliding mode controller is designed for the pitch channel linear model of supersonic missile ...adaptive control is formed which contains proportion control, ... See full document

... pliance control via Integral Sliding Mode Control ...use sliding mode methods to ensure ...of using cylindrical and spherical coordinates and the posture controller ... See full document

... As mentioned in the previous section, the ISMC scheme is applied to a multi-redundant system (i.e. 4 DOF, shoul- der flexion, shoulder abduction, humeral rotation and el- bow flexion are used, while, only 2 DOF (x ... See full document

... torque control of the individual wheels, i.e., torque-vectoring or direct yaw moment ...the sliding mode control theory to ...of sliding mode controllers on real vehicle ... See full document

... standard sliding mode control technique is proposed for the ...IV integral sliding mode control (ISMC) technique is proposed for the ... See full document

... different control approaches (integral LQR techniques, integral sliding mode control [2], reinforcement learning [3]) have been considered with little success to achieve ... See full document

... DC motors are available in many different power ratings from very small motors as used in hard drives to large motors used in electric vehicles however main drawback of the dc motor is need of periodic maintenance. BLDC ... See full document

... nonlinear control can be effectively accomplished using sliding mode control (SMC) [2] ...the control effort, which is undesirable ...in control input of SMC by ... See full document

... dual sliding mode proportional and integral controller is used to operate switched reluctance motor drive in this ...SRM drive has different operating modes which are obtained by ... See full document

... in direct drive robot ...the arm. This paper deals with the tracking control of a class of direct-drive robot ...(PI) sliding mode control law ... See full document

... the sliding line, each associated to one of the two sub topologies defined by switch status ...the sliding line, are directed toward the line itself, the resulting motion is made by continuous commutations ... See full document

... dc control is done and active, passive and hysteresis control methods are ...Passive control, where the positive and negative small vectors are selected alternatively in each new switching cycle, is ... See full document

... β as t → ∞ , and (3) β & (t ) exits and is bounded. Notably, the function β (t ) drives system states in any state space directly to the sliding mode without a reaching phase. In other words, the system ... See full document

... out using robotic telescope mount developed at Poznan University of Technology ...(PMSM). Control algorithms have been implemented in C++ using a processor with ARM Cortex-A9 core clocked at ... See full document

... Considering the two degree of freedom of two respective joints the maximum distance in any direction is proportional to the joint angles of the robotic arm controlled by stepper motor of two joints. Due to the ... See full document

... high control applications such as rolling mills, traction, machine tools, high precision digital tools ...to control the DC ...as Sliding Mode Controller ... See full document

... two-wheeled robot, and aiming at the nonlinear systems with uncertainties variable structure, a trajectory tracking model based on sliding mode control (SMC) was designed by utilizing state ... See full document