October 1, 2020 Thesis Open Access

ADERAJEW ASHAGRIE TILAHUN

DCAT Export

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    <dct:title>MODELING AND TRAJECTORY TRACKING CONTROL OF 3-DOF INDUSTRIAL ROBOTIC MANIPILATOR USING SELF-TUNING FUZZY SLIDING MODE CONTROLLER (ST-FSMC)</dct:title>
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    <dct:description>&lt;p&gt;Robotic manipulators are highly coupled, multi-input multi-output (MIMO), nonlinear&lt;br&gt; systems with uncertainties and highly time-varying dynamic system; this makes&lt;br&gt; the trajectory tracking control of Robotic manipulator system more challenging and&lt;br&gt; needs a robust control system. This thesis aims at the trajectory tracking control&lt;br&gt; of a 3-DOF robotic manipulator using self-tuning {FSMC (ST-FSMC). The conventional&lt;br&gt; controllers (PID, SMC, and FSMC) is designed for the comparison purpose&lt;br&gt; with ST-FSMC. Euler { Lagrange approach has been applied to drive the complete&lt;br&gt; nonlinear dynamic model of a 3-DOF robotic manipulator, the stability of the system&lt;br&gt; has been investigated by using the Lyapunov direct method, the controller has been&lt;br&gt; implemented using MATLAB/Simulink and performance analysis has been done.&lt;br&gt; The simulation results show that the proposed controller (ST-FSMC) has removed&lt;br&gt; chattering phenomena from the input voltage, minimized the magnitude of controller&lt;br&gt; eort, and has reduced the tracking error (average Steady-State error is 0.0036 rad).&lt;br&gt; However, in the case of conventional controller the average Steady-State error is&lt;br&gt; increased to 0.0413 rad, 0.00443 rad, and 0.0053 rad for PID, SMC, and FSMC,&lt;br&gt; respectively. Generally from the simulation results, it proved that the performance&lt;br&gt; response of the designed control system (ST-FSMC) has a superior trajectory tracking&lt;br&gt; performance, robust and is insensitive to applied model parameter variations as&lt;br&gt; compared to other conventional controllers&lt;/p&gt;</dct:description>
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