scholarly journals Adaptive Sliding Mode Control Design of a SCARA Robot Manipulator System Under Parametric Variations

2015 ◽  
Vol 8 (5) ◽  
pp. 117-123 ◽  
Author(s):  
F. Adelhedi ◽  
◽  
A. Jribi ◽  
Y. Bouteraa ◽  
N. Derbel ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Control Design ◽  
Adaptive Sliding Mode Control ◽  
Scara Robot ◽  
Adaptive Sliding Mode ◽  
Mode Control

Sliding Mode Control Design for Uncertain Singular Systems

2011 ◽  
Vol 145 ◽  
pp. 16-20 ◽  
Author(s):  
Kuo Jung Lin
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Singular Systems ◽  
Sufficient Conditions ◽  
Control Design ◽  
Adaptive Sliding Mode Control ◽  
Sliding Mode Controller ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Uncertain Singular Systems

This paper addresses the problem of sliding mode control design and adaptive sliding mode control design for robust stabilization of uncertain singular systems with guaranteed control performance. Based on the Lyapunov stability theorem, we solve two sufficient conditions for stabilization of the uncertain singular systems. The proposed sliding mode controller and adaptive sliding mode controller can reduce the effect of uncertainty. An electrical system is given to illustrate the validity of the proposed scheme. Simulation result shown that the adaptive sliding mode control design is better than sliding mode control design case.

Sign in / Sign up

Export Citation Format

Share Document