Trajectory Tracking Control Simulation of a 4-DOF SCARA Robot Manipulator Using Fuzzy Sliding Mode Controller with PID Sliding Surface
| dc.contributor.advisor | Dereje, Shiferaw (PhD) | |
| dc.contributor.author | Temesgen, Gelchu | |
| dc.date.accessioned | 2020-11-24T06:28:18Z | |
| dc.date.accessioned | 2023-11-28T14:20:35Z | |
| dc.date.available | 2020-11-24T06:28:18Z | |
| dc.date.available | 2023-11-28T14:20:35Z | |
| dc.date.issued | 2017 | |
| dc.description.abstract | Research and development of controlling industrial robot is an active research area. The methodologies for controller design development are considered as the key for the robot in the industrial applications. One of the most widely used industrial robots is the SCARA robot due to its high precision, high speed, small dimensions, simple and reliable structure, and ease of installation. The study reported is on design and simulation of fuzzy sliding mode controller with PID sliding surface for a 4 DOF Selective Compliance Assembly Robot Arm (hereafter called SCARA). The main objective of this thesis is to control a SCARA robot arm using two controllers to track the desired position. Sliding mode controller (SMC) is used as a reference benchmark to compare its result with fuzzy sliding mode controller (FSMC) with PID sliding surface result. Euler – Lagrange approach has been used to drive the complete dynamic model of SCARA robot, the stability of the system has been analyzed by using Lyapunov method, the controller has been implemented using MATLAB and performance analysis has been done. The simulation results show that the newly proposed controller has removed chattering phenomena from input torque, minimized the magnitude of controller effort, and has reduced the tracking error (order of for first, second, fourth joint and of for third joint). | en_US |
| dc.identifier.uri | http://etd.aau.edu.et/handle/12345678/23471 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Addis Ababa University | en_US |
| dc.subject | SCARA robot | en_US |
| dc.subject | Fuzzy Control | en_US |
| dc.subject | Sliding Mode Control | en_US |
| dc.subject | Fuzzy Sliding Mode Controller | en_US |
| dc.title | Trajectory Tracking Control Simulation of a 4-DOF SCARA Robot Manipulator Using Fuzzy Sliding Mode Controller with PID Sliding Surface | en_US |
| dc.type | Thesis | en_US |