Show simple item record

dc.contributor.authorSuravaram, Praveen Reddy
dc.date.accessioned2015-09-17T01:11:17Z
dc.date.available2015-09-17T01:11:17Z
dc.date.issued2005-05
dc.identifier.urihttp://hdl.handle.net/11122/5974
dc.descriptionThesis (M.S.) University of Alaska Fairbanks, 2005en_US
dc.description.abstractThe major contribution of this thesis is the design and evaluation of a chattering-free sliding mode controller (SMC), which is a novel application for 2 degree-of-freedom (DOF) planar robot arms exposed to load variations. The performance of the SMC is evaluated in comparison to a proportional-derivative-plus (PD+) controller, as an example of nonlinear model-based controllers, as well as classical linear controllers, such as proportional-derivative (PD) and proportional-integral-derivative (PID). The performance of all four methods has been tested via realistic and detailed simulation models developed for both geared and direct-drive type 2-DOF planar robot arms. The model used in simulations reflects the dynamics of the arm, as well as the actuator dynamics and pulse width modulation (PWM) switching of the power converters. Simulations are performed under unknown load variations for both step and sinusoidal type reference joint trajectories. The results demonstrate that the chattering-free SMC provides increased accuracy and robustness than that of the other controllers and requires no prior knowledge of the system dynamic model and the load variation that the end-effector is subjected to. The results obtained could be extended to the control of a variety of geared and direct-drive type robotic configurations.en_US
dc.description.tableofcontentsIntroduction -- Modeling of 2-DOF planar elbow manipulator -- Control of 2-DOF planar elbow manipulator -- Simulation results -- Conclusions and future work -- References -- Appendix.en_US
dc.language.isoen_USen_US
dc.titleRobust control of geared and direct-drive robotic manipulators under parameter and model uncertaintiesen_US
dc.typeThesisen_US
dc.type.degreemsen_US
dc.identifier.departmentDepartment of Electrical and Computer Engineeringen_US
dc.contributor.chairBogosyan, Seta
dc.contributor.committeeSonwalkar, Vikas
dc.contributor.committeeAspnes, John
refterms.dateFOA2020-01-25T01:30:56Z


Files in this item

Thumbnail
Name:
Suravaram_P_2005.pdf
Size:
73.35Mb
Format:
PDF

This item appears in the following Collection(s)

Show simple item record