| contributor author | Farahmandrad, Maryam | |
| contributor author | Ganjefar, Soheil | |
| contributor author | Talebi, Heidar Ali | |
| contributor author | Bayati, Mahdi | |
| date accessioned | 2019-06-08T09:29:42Z | |
| date available | 2019-06-08T09:29:42Z | |
| date copyright | 2/27/2019 12:00:00 AM | |
| date issued | 2019 | |
| identifier issn | 0022-0434 | |
| identifier other | ds_141_06_061010.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4257780 | |
| description abstract | This paper proposes a control framework for a cooperative robotic system to grasp and handle an object with known geometry in the presence of uncertainty in robot dynamics. Based on passive decomposition approach, dynamic equations of the cooperative robotic system are decomposed into two decoupled systems, shape and locked systems. The locked system and the shape system are controlled by two fuzzy sliding mode controllers (SMCs). Stability is studied through passivity property and Lyapunov theorem. Simulation results confirm that the proposed control scheme works well. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Fuzzy Sliding Mode Controller Design for a Cooperative Robotic System With Uncertainty for Handling an Object | |
| type | Journal Paper | |
| journal volume | 141 | |
| journal issue | 6 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.4042742 | |
| journal fristpage | 61010 | |
| journal lastpage | 061010-8 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;2019:;volume( 141 ):;issue: 006 | |
| contenttype | Fulltext | |