Mahdi Souzanchi-K1, Mohammad-R Akbarzadeh-T1,*, Nadia Naghavi1, Ali Sharifnezhad2, Vahab Khoshdel3
Intelligent Automation & Soft Computing, Vol.34, No.1, pp. 279-294, 2022, DOI:10.32604/iasc.2022.023717
- 15 April 2022
Abstract Sliding mode control is often used for systems with parametric uncertainties due to its desirable robustness and stability, but this approach carries undesirable chattering. Similarly, joint elasticity is a common phenomenon induced by transmission systems in robots, but it presents additional complexity in robot dynamics that could lead to robot vibrations or even instability. Coupling these two phenomena presents further compounded challenges, particularly when faced with the human interface's added uncertainties. Here, a stable voltage-based adaptive fuzzy strategy to sliding mode control is proposed for an elastic joint robot arm that uses a human's upper… More >
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