Affiliation:
1. University of Sfax, Ecole Nationale d’Ingénieurs de Sfax, Laboratoire des Sciences et Techniques de L’automatique et de L’informatique Industrielle, LR11ES50, 3038 Sfax, Tunisia
Abstract
In this paper, we present robust control techniques applied on a manipulator robot system: modified sliding mode control (MSMC) and backstepping control (BSC). The purpose is to evaluate SMC and BSC performances, taking into account the model uncertainties. Then, the obtained results of MSMC technique are compared with those of the adaptive sliding mode. Both methods have comparable simulation results which show a good quality of robustness. However, simulation results prove that the modified SMC is more robust, mostly under the effect of external variations and uncertainties.
Funder
Sciences and Techniques of Automatic Control and Computer Engineering Laboratory
Subject
Electrical and Electronic Engineering,General Computer Science,Signal Processing
Cited by
6 articles.
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