October 1, 2020 Thesis Open Access

ADERAJEW ASHAGRIE TILAHUN

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  <identifier identifierType="DOI">10.20372/nadre:5114</identifier>
  <creators>
    <creator>
      <creatorName>ADERAJEW ASHAGRIE TILAHUN</creatorName>
    </creator>
  </creators>
  <titles>
    <title>MODELING AND TRAJECTORY TRACKING CONTROL OF 3-DOF INDUSTRIAL ROBOTIC MANIPILATOR USING SELF-TUNING FUZZY SLIDING MODE CONTROLLER (ST-FSMC)</title>
  </titles>
  <publisher>Zenodo</publisher>
  <publicationYear>2020</publicationYear>
  <dates>
    <date dateType="Issued">2020-10-01</date>
  </dates>
  <resourceType resourceTypeGeneral="Text">Thesis</resourceType>
  <alternateIdentifiers>
    <alternateIdentifier alternateIdentifierType="url">https://nadre.ethernet.edu.et/record/5114</alternateIdentifier>
  </alternateIdentifiers>
  <relatedIdentifiers>
    <relatedIdentifier relatedIdentifierType="DOI" relationType="IsVersionOf">10.20372/nadre:5113</relatedIdentifier>
    <relatedIdentifier relatedIdentifierType="URL" relationType="IsPartOf">https://nadre.ethernet.edu.et/communities/aastu</relatedIdentifier>
    <relatedIdentifier relatedIdentifierType="URL" relationType="IsPartOf">https://nadre.ethernet.edu.et/communities/zenodo</relatedIdentifier>
  </relatedIdentifiers>
  <rightsList>
    <rights rightsURI="http://www.opendefinition.org/licenses/cc-by">Creative Commons Attribution</rights>
    <rights rightsURI="info:eu-repo/semantics/openAccess">Open Access</rights>
  </rightsList>
  <descriptions>
    <description descriptionType="Abstract">&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;</description>
  </descriptions>
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