October 1, 2020 Thesis Open Access

ADERAJEW ASHAGRIE TILAHUN

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{
  "DOI": "10.20372/nadre:5114", 
  "author": [
    {
      "family": "ADERAJEW ASHAGRIE TILAHUN"
    }
  ], 
  "issued": {
    "date-parts": [
      [
        2020, 
        10, 
        1
      ]
    ]
  }, 
  "abstract": "<p>Robotic manipulators are highly coupled, multi-input multi-output (MIMO), nonlinear<br>\nsystems with uncertainties and highly time-varying dynamic system; this makes<br>\nthe trajectory tracking control of Robotic manipulator system more challenging and<br>\nneeds a robust control system. This thesis aims at the trajectory tracking control<br>\nof a 3-DOF robotic manipulator using self-tuning {FSMC (ST-FSMC). The conventional<br>\ncontrollers (PID, SMC, and FSMC) is designed for the comparison purpose<br>\nwith ST-FSMC. Euler { Lagrange approach has been applied to drive the complete<br>\nnonlinear dynamic model of a 3-DOF robotic manipulator, the stability of the system<br>\nhas been investigated by using the Lyapunov direct method, the controller has been<br>\nimplemented using MATLAB/Simulink and performance analysis has been done.<br>\nThe simulation results show that the proposed controller (ST-FSMC) has removed<br>\nchattering phenomena from the input voltage, minimized the magnitude of controller<br>\neort, and has reduced the tracking error (average Steady-State error is 0.0036 rad).<br>\nHowever, in the case of conventional controller the average Steady-State error is<br>\nincreased to 0.0413 rad, 0.00443 rad, and 0.0053 rad for PID, SMC, and FSMC,<br>\nrespectively. Generally from the simulation results, it proved that the performance<br>\nresponse of the designed control system (ST-FSMC) has a superior trajectory tracking<br>\nperformance, robust and is insensitive to applied model parameter variations as<br>\ncompared to other conventional controllers</p>", 
  "title": "MODELING AND TRAJECTORY TRACKING CONTROL OF 3-DOF INDUSTRIAL ROBOTIC MANIPILATOR USING SELF-TUNING FUZZY SLIDING MODE CONTROLLER (ST-FSMC)", 
  "type": "thesis", 
  "id": "5114"
}