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Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
An Improved Model-Based Power Rate Hyperbolic Tangent Sliding Mode Control for Robot Manipulator
This paper presents an approach to mitigate the chattering phenomenon in sliding mode control for robotic manipulators. By integrating a power-rate hyperbolic tangent with a proportional constant into the model-based sliding mode control algorithm, this study aims to overcome the limitations of conventional SM C methodologies, which are suffered by chattering phenomena due to the discontinuous part in the input signals. The proposed method combines the benefits of proportional constant and power rate hyperbolic tangent approaches, leading to smoother transition modes and faster convergence to the desired trajectories, even from a distance. Numerical simulations demonstrate the superior performance of the Modified model-based power rate hyperbolic Tangent sliding mode control over conventional model-based sliding mode control across various test scenarios, including cases with external disturbances and noise. The results highlight the proposed method's enhanced tracking accuracy, reduced error rates, and robustness against disturbances and uncertainties.
An Improved Model-Based Power Rate Hyperbolic Tangent Sliding Mode Control for Robot Manipulator
This paper presents an approach to mitigate the chattering phenomenon in sliding mode control for robotic manipulators. By integrating a power-rate hyperbolic tangent with a proportional constant into the model-based sliding mode control algorithm, this study aims to overcome the limitations of conventional SM C methodologies, which are suffered by chattering phenomena due to the discontinuous part in the input signals. The proposed method combines the benefits of proportional constant and power rate hyperbolic tangent approaches, leading to smoother transition modes and faster convergence to the desired trajectories, even from a distance. Numerical simulations demonstrate the superior performance of the Modified model-based power rate hyperbolic Tangent sliding mode control over conventional model-based sliding mode control across various test scenarios, including cases with external disturbances and noise. The results highlight the proposed method's enhanced tracking accuracy, reduced error rates, and robustness against disturbances and uncertainties.
An Improved Model-Based Power Rate Hyperbolic Tangent Sliding Mode Control for Robot Manipulator
Nasir, M. (Autor:in) / Fareh, R. (Autor:in) / Khadraoui, S. (Autor:in) / Bettayeb, M. (Autor:in)
03.06.2024
5152377 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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