Volume 12 Number 2
April 2015
Article Contents
Lilia Zouari, Hafedh Abid and Mohamed Abid. Sliding Mode and PI Controllers for Uncertain Flexible Joint Manipulator. International Journal of Automation and Computing, vol. 12, no. 2, pp. 117-124, 2015. doi: 10.1007/s11633-015-0878-x
Cite as: Lilia Zouari, Hafedh Abid and Mohamed Abid. Sliding Mode and PI Controllers for Uncertain Flexible Joint Manipulator. International Journal of Automation and Computing, vol. 12, no. 2, pp. 117-124, 2015. doi: 10.1007/s11633-015-0878-x

Sliding Mode and PI Controllers for Uncertain Flexible Joint Manipulator

  • Received: 2014-03-22
通讯作者: 陈斌, bchen63@163.com
  • 1. 

    沈阳化工大学材料科学与工程学院 沈阳 110142

  1. 本站搜索
  2. 百度学术搜索
  3. 万方数据库搜索
  4. CNKI搜索

Metrics

Abstract Views (5834) PDF downloads (4926) Citations (0)

Sliding Mode and PI Controllers for Uncertain Flexible Joint Manipulator

Abstract: This paper is dealing with the problem of tracking control for uncertain flexible joint manipulator robots driven by brushless direct current motor (BDCM). Flexibility of joint in the manipulator constitutes one of the most important sources of uncertainties. In order to achieve high performance, all parts of the manipulator including actuator have been modeled. To cancel the tracking error, a hysteresis current controller and speed controllers have been developed. To evaluate the effectiveness of speed controllers, a comparative study between proportional integral (PI) and sliding mode controllers has been performed. Finally, simulation results carried out in the Matlab simulink environment demonstrate the high precision of sliding mode controller compared with PI controller in the presence of uncertainties of joint flexibility.

Lilia Zouari, Hafedh Abid and Mohamed Abid. Sliding Mode and PI Controllers for Uncertain Flexible Joint Manipulator. International Journal of Automation and Computing, vol. 12, no. 2, pp. 117-124, 2015. doi: 10.1007/s11633-015-0878-x
Citation: Lilia Zouari, Hafedh Abid and Mohamed Abid. Sliding Mode and PI Controllers for Uncertain Flexible Joint Manipulator. International Journal of Automation and Computing, vol. 12, no. 2, pp. 117-124, 2015. doi: 10.1007/s11633-015-0878-x
Reference (27)

Catalog

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return