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صفحه اصلی
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سی و چهارمین کنفرانس بین المللی مهندسی برق
An Integrated Fixed-Time Nonlinear Control framework for Manipulator Robots Considering Unknown Frictions and Parametric Uncertainties
نویسندگان :
Alireza Zanganeh
1
Ali Abooee
2
Mohammad Mehdi Jalili Bahabadi
3
1- Yazd university
2- Yazd university
3- Yazd university
کلمات کلیدی :
Manipulator Robot،Fixed-Time stability،Terminal Sliding Mode Control،Nonlinear Adaptation Laws
چکیده :
In this paper, an innovative fixed-time nonlinear control structure is proposed for manipulator robots, considering a comprehensive model that includes parametric and modeling uncertainties, unknown friction torques, and external disturbances, to achieve precise tracking of a predetermined task path. This control framework is constructed by integrating the terminal sliding mode control and nonlinear adaptation laws. The global fixed-time stability of the closed-loop system is proven using Lyapunov functions and practical lemmas. Finally, simulation results on a 2-DOF manipulator robot demonstrate that the proposed structure ensures exact convergence (with absolute zero error) of the robot's end-effector to the reference path after an adjustable fixed time.
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بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 44.7.2
