Matches in SemOpenAlex for { <https://semopenalex.org/work/W4214895986> ?p ?o ?g. }
- W4214895986 endingPage "1876" @default.
- W4214895986 startingPage "1876" @default.
- W4214895986 abstract "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 uncertainty and unknown dynamic friction. The proposed controller is simulated on a 6-DOF industrial robot, namely the Universal Robot-UR5, considering the maximum allowable joint torques. It is observed that the proposed controller can successfully control UR5 under uncertainties in terms of unknown dynamic friction and parameter uncertainties. The tracking performance of the proposed controller is compared with that of the sliding mode control approach. The simulation results demonstrate superior performance of the proposed approach over the sliding mode control method in the presence of uncertainties." @default.
- W4214895986 created "2022-03-05" @default.
- W4214895986 creator A5002192089 @default.
- W4214895986 creator A5017146519 @default.
- W4214895986 date "2022-03-03" @default.
- W4214895986 modified "2023-10-13" @default.
- W4214895986 title "Robust Sliding Mode Fuzzy Control of Industrial Robots Using an Extended Kalman Filter Inverse Kinematic Solver" @default.
- W4214895986 cites W1616545072 @default.
- W4214895986 cites W1967820890 @default.
- W4214895986 cites W2002586703 @default.
- W4214895986 cites W2002967483 @default.
- W4214895986 cites W2004411380 @default.
- W4214895986 cites W2048529505 @default.
- W4214895986 cites W2076738099 @default.
- W4214895986 cites W2111306299 @default.
- W4214895986 cites W2170807762 @default.
- W4214895986 cites W2751565523 @default.
- W4214895986 cites W2759592850 @default.
- W4214895986 cites W2761387828 @default.
- W4214895986 cites W2769511588 @default.
- W4214895986 cites W2809951276 @default.
- W4214895986 cites W2900419214 @default.
- W4214895986 cites W2954123108 @default.
- W4214895986 cites W2974280033 @default.
- W4214895986 cites W2979330440 @default.
- W4214895986 cites W2989641972 @default.
- W4214895986 cites W3005470293 @default.
- W4214895986 cites W3022009094 @default.
- W4214895986 cites W3027030870 @default.
- W4214895986 cites W3034758466 @default.
- W4214895986 cites W3109778264 @default.
- W4214895986 cites W3119208799 @default.
- W4214895986 cites W3123566502 @default.
- W4214895986 cites W3133502987 @default.
- W4214895986 cites W3134441621 @default.
- W4214895986 cites W3141825679 @default.
- W4214895986 cites W3161968700 @default.
- W4214895986 cites W3182490358 @default.
- W4214895986 cites W3184100603 @default.
- W4214895986 cites W3208159501 @default.
- W4214895986 cites W3209451844 @default.
- W4214895986 doi "https://doi.org/10.3390/en15051876" @default.
- W4214895986 hasPublicationYear "2022" @default.
- W4214895986 type Work @default.
- W4214895986 citedByCount "8" @default.
- W4214895986 countsByYear W42148959862022 @default.
- W4214895986 countsByYear W42148959862023 @default.
- W4214895986 crossrefType "journal-article" @default.
- W4214895986 hasAuthorship W4214895986A5002192089 @default.
- W4214895986 hasAuthorship W4214895986A5017146519 @default.
- W4214895986 hasBestOaLocation W42148959861 @default.
- W4214895986 hasConcept C104317684 @default.
- W4214895986 hasConcept C119599485 @default.
- W4214895986 hasConcept C121332964 @default.
- W4214895986 hasConcept C127413603 @default.
- W4214895986 hasConcept C133731056 @default.
- W4214895986 hasConcept C154945302 @default.
- W4214895986 hasConcept C157286648 @default.
- W4214895986 hasConcept C158622935 @default.
- W4214895986 hasConcept C17500928 @default.
- W4214895986 hasConcept C185592680 @default.
- W4214895986 hasConcept C195975749 @default.
- W4214895986 hasConcept C203479927 @default.
- W4214895986 hasConcept C2775924081 @default.
- W4214895986 hasConcept C31531917 @default.
- W4214895986 hasConcept C36662352 @default.
- W4214895986 hasConcept C39920418 @default.
- W4214895986 hasConcept C41008148 @default.
- W4214895986 hasConcept C47446073 @default.
- W4214895986 hasConcept C55493867 @default.
- W4214895986 hasConcept C58166 @default.
- W4214895986 hasConcept C60640748 @default.
- W4214895986 hasConcept C62520636 @default.
- W4214895986 hasConcept C63479239 @default.
- W4214895986 hasConcept C6557445 @default.
- W4214895986 hasConcept C74650414 @default.
- W4214895986 hasConcept C86803240 @default.
- W4214895986 hasConcept C90509273 @default.
- W4214895986 hasConceptScore W4214895986C104317684 @default.
- W4214895986 hasConceptScore W4214895986C119599485 @default.
- W4214895986 hasConceptScore W4214895986C121332964 @default.
- W4214895986 hasConceptScore W4214895986C127413603 @default.
- W4214895986 hasConceptScore W4214895986C133731056 @default.
- W4214895986 hasConceptScore W4214895986C154945302 @default.
- W4214895986 hasConceptScore W4214895986C157286648 @default.
- W4214895986 hasConceptScore W4214895986C158622935 @default.
- W4214895986 hasConceptScore W4214895986C17500928 @default.
- W4214895986 hasConceptScore W4214895986C185592680 @default.
- W4214895986 hasConceptScore W4214895986C195975749 @default.
- W4214895986 hasConceptScore W4214895986C203479927 @default.
- W4214895986 hasConceptScore W4214895986C2775924081 @default.
- W4214895986 hasConceptScore W4214895986C31531917 @default.
- W4214895986 hasConceptScore W4214895986C36662352 @default.
- W4214895986 hasConceptScore W4214895986C39920418 @default.
- W4214895986 hasConceptScore W4214895986C41008148 @default.
- W4214895986 hasConceptScore W4214895986C47446073 @default.
- W4214895986 hasConceptScore W4214895986C55493867 @default.
- W4214895986 hasConceptScore W4214895986C58166 @default.