Robust sliding mode fuzzy control of industrial robots using an extended kalman filter inverse kinematic solver
MA Khanesar, D Branson - Energies, 2022 - mdpi.com
This paper presents a sliding mode fuzzy control approach for industrial robots at their static
and near static speed (linear velocities less than 5 cm/s). The extended Kalman filter with its
covariance resetting is used to translate the coordinates from Cartesian to joint angle space.
The translated joint angles are then used as a reference signal to control the industrial robot
dynamics using a sliding mode fuzzy controller. The stability and robustness of the proposed
controller is proven using an appropriate Lyapunov function in the presence of parameter …
and near static speed (linear velocities less than 5 cm/s). The extended Kalman filter with its
covariance resetting is used to translate the coordinates from Cartesian to joint angle space.
The translated joint angles are then used as a reference signal to control the industrial robot
dynamics using a sliding mode fuzzy controller. The stability and robustness of the proposed
controller is proven using an appropriate Lyapunov function in the presence of parameter …
[PDF][PDF] Robust Sliding Mode Fuzzy Control of Industrial Robots Using an Extended Kalman Filter Inverse Kinematic Solver. Energies 2022, 15, 1876
MA Khanesar, D Branson - 2022 - academia.edu
This paper presents a sliding mode fuzzy control approach for industrial robots at their static
and near static speed (linear velocities less than 5 cm/s). The extended Kalman filter with its
covariance resetting is used to translate the coordinates from Cartesian to joint angle space.
The translated joint angles are then used as a reference signal to control the industrial robot
dynamics using a sliding mode fuzzy controller. The stability and robustness of the proposed
controller is proven using an appropriate Lyapunov function in the presence of parameter …
and near static speed (linear velocities less than 5 cm/s). The extended Kalman filter with its
covariance resetting is used to translate the coordinates from Cartesian to joint angle space.
The translated joint angles are then used as a reference signal to control the industrial robot
dynamics using a sliding mode fuzzy controller. The stability and robustness of the proposed
controller is proven using an appropriate Lyapunov function in the presence of parameter …