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• W2896790487 abstract "This paper presents a robust dynamic sliding mode control for electrically driven robot manipulators. The control law computes the motor voltages based on the voltage control strategy. Uncertainties are estimated using the Fourier series expansion and the truncation error is compensated. The Fourier coefficients are tuned based on the stability analysis. The contribution of this paper is designing a robust controller using a novel adaptive Fourier series expansion. In comparison with previous related works based on the Fourier series expansion, the superiority of this paper is presenting an adaptation law for the fundamental frequency of the Fourier series expansion and, consequently, relaxing the need for trial and error procedure in its tuning. The case study is a SCARA (Selective Compliant Articulated Robot for Assembly) robot manipulator actuated by permanent magnet DC electrical motors. The influence of uncertainty estimation based on the Fourier series expansion instead of using sign function is studied. Simulation results verify robust and satisfactory performance of the proposed controller." @default.
• W2896790487 created "2018-10-26" @default.
• W2896790487 creator A5053528280 @default.
• W2896790487 creator A5080948415 @default.
• W2896790487 date "2018-10-15" @default.
• W2896790487 modified "2023-09-26" @default.
• W2896790487 title "Robust dynamic sliding mode control of robot manipulators using the Fourier series expansion" @default.
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• W2896790487 doi "https://doi.org/10.1177/0142331218802357" @default.
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