DESIGN OF ADAPTIVE SLIDING MODE FUZZY CONTROL FOR ROBOT MANIPULATOR BASED ON EXTENDED W M A N FILTER

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" DESIGN OF ADAPTIVE SLIDING MODE FUZZY CONTROL FOR ROBOT MANIPULATOR BASED ON EXTENDED W M A N FILTER "

Document Type	:	Latin Dissertation
Language of Document	:	English
Record Number	:	151751
Doc. No	:	ET23543
Main Entry	:	Abdelrahman Aledhaibi
Title Proper	:	DESIGN OF ADAPTIVE SLIDING MODE FUZZY CONTROL FOR ROBOT MANIPULATOR BASED ON EXTENDED W M A N FILTER
Note	:	This document is digital این مدرک بصورت الکترونیکی می باشد
Abstract	:	In this work. a new adaptive motion control scheme for robust performancecontrol of robot manipulators is presented. The proposed scheme is designed bycombining the fuvy logic control with the sliding mode control based on extendedKalrnan filter. F u v y logic controllers have been used successfully in many applicationsand were shown to be superior to the classical controllers for some nonlinear systems.Sliding mode control is a powerful approach for controlling nonlinear and uncertainsystems. It is a robust control method and can be applied in the presence of modeluncertainties and parameter disturbances. provided that the bounds of these uncertaintiesand disturbances are known. We have designed a new adaptive Sliding Mode FuuyControl (SMFC) method that requires only position.......-....,....-...,..tested for theQ1 PC1 bus cardBoth these projects mere sofixare des elopment efforts tonards contributing to dlfferentaspects of Roboucs and lZ1echatronics projects m the Controls and Roboucs Group..
Subject	:	Electericl tess
	:	برق
electronic file name	:	TL46784.pdf
Title and statement of responsibility and	:	DESIGN OF ADAPTIVE SLIDING MODE FUZZY CONTROL FOR ROBOT MANIPULATOR BASED ON EXTENDED W M A N FILTER [Thesis]