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All Journal IAES International Journal of Robotics and Automation (IJRA)
Saad, Maarouf
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Automotive Engineering Electrical & Electronics Engineering

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Modified power rate sliding mode control for robot manipulator based on particle swarm optimization Sinan, Saif; Fareh, Raouf; Hamdan, Sadeque; Saad, Maarouf; Bettayeb, Maamar
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 2: June 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i2.pp168-180

Abstract

This work suggests an optimized improved power rate sliding mode control (PRSMC) to control a 4-degrees of freedom (DOF) manipulator in joint space as well as workspace. The proposed sliding mode control (SMC) aims to improve the reaching mode and to employ an optimization method to tune the control parameters that operate the robotic manipulator adaptively. Inverse kinematics is used to obtain the joint desired angles from the end effector desired position, while forward kinematics is used to obtain the real Cartesian position and orientation of the end effector from the real joint angles. The proposed enhancements to the SMC involve the use of the hyperbolic tangent function in the control law to improve the reaching mode. Added to that, particle swarm optimization (PSO) is used to tune the parameters of the improved SMC. Furthermore, the Lyapunov function is utilized to analyze the stability of the closed-loop system. The proposed enhanced sliding mode combined with the optimization method is applied experimentally on a 4-DOF manipulator to prove the feasibility and efficiency of the proposed controller. Finally, the performance of the suggested control scheme is compared with the conventional power rate SMC in order to demonstrate the enhanced performance of the suggested method.
New time delay estimation-based virtual decomposition control for n-DoF robot manipulator Faqihi, Hachmia; Benjelloun, Khalid; Saad, Maarouf; Benbrahim, Mohammed; Kabbaj, M. Nabil
IAES International Journal of Robotics and Automation (IJRA) Vol 10, No 3: September 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v10i3.pp192-206

Abstract

One of the most efficient approaches to control a multiple degree-of-freedom robot manipulator is the virtual decomposition control (VDC). However, the use of the re- gressor technique in the conventionnal VDC to estimate the unknown and uncertaities parameters present some limitations. In this paper, a new control strategy of n-DoF robot manipulator, refering to reorganizing the equation of the VDC using the time delay estimation (TDE) have been investigated. In the proposed controller, the VDC equations are rearranged using the TDE for unknown dynamic estimations. Hence, the decoupling dynamic model for the manipulator is established. The stability of the overall system is proved based on Lyapunov theory. The effectiveness of the proposed controller is proved via case study performed on 7-DoF robot manipulator and com- pared to the conventionnal Regressor-based VDC according to some evalution criteria. The results carry out the validity and efficiency of the proposed time delay estimation- based virtual decomposition controller (TD-VDC) approach.
Co-Authors Benbrahim, Mohammed Benjelloun, Khalid Bettayeb, Maamar Faqihi, Hachmia Fareh, Raouf Hamdan, Sadeque Kabbaj, M. Nabil Sinan, Saif