Design, implementation and control of a two-link fully-actuated robot capable of online identification of unknown dynamical parameters using adaptive sliding mode controller

Tajdari, Farzam; Kabganian, Mansour; Khodabakhshi, Erfan; Golgouneh, Alireza

doi:10.1109/rios.2017.7956449

Cited by 12 publications

(6 citation statements)

References 11 publications

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“…In practice, it may not always be possible to obtain the intended density set-point at the bottleneck (for example, due to input saturation); hence an anti-windup technique must be included in our controller. We use the proposed method in [14], that, in this case, modifies the dynamic controller's integral part (10) as…”

Section: B Controller Designmentioning

confidence: 99%

Flow metering and lane-changing optimal control with ramp-metering saturation

Tajdari

Ramezanian

Paydarfar

et al. 2022

2022 CPSSI 4th International Symposium on Real-Time and Embedded Systems and Technologies (RTEST)

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HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.

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Section: B Controller Designmentioning

confidence: 99%

Flow metering and lane-changing optimal control with ramp-metering saturation

Tajdari

Ramezanian

Paydarfar

et al. 2022

2022 CPSSI 4th International Symposium on Real-Time and Embedded Systems and Technologies (RTEST)

Self Cite

View full text Add to dashboard Cite

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“…In Reference [22], a voltage-based SMC is proposed, which has a low computational volume. Despite the inherent advantages of robustness compared to the disturbances, the performance of SMCs can be affected by changing the system parameters [23]. Therefore, adaptive sliding mode controllers (ASMCs) are also commonly considered.…”

Section: Type Of Robots Humanoid Robot Snake Robot Rehabilitation Robotmentioning

confidence: 99%

A Novel Adaptive Sliding Mode Controller for a 2-DOF Elastic Robotic Arm

2022

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Collaborative robots (or cobots) are robots that are capable of safely operating in a shared environment or interacting with humans. In recent years, cobots have become increasingly common. Compliant actuators are critical in the design of cobots. In real applications, this type of actuation system may be able to reduce the amount of damage caused by an unanticipated collision. As a result, elastic joints are expected to outperform stiff joints in complex situations. In this work, the control of a 2-DOF robot arm with elastic actuators is addressed by proposing a two-loop adaptive controller. For the outer control loop, an adaptive sliding mode controller (ASMC) is adopted to deal with uncertainties and disturbance on the load side of the robot arm. For the inner loops, model reference adaptive controllers (MRAC) are utilised to handle the uncertainties on the motor side of the robot arm. To show the effectiveness of the proposed controller, extensive simulation experiments and a comparison with the conventional sliding mode controller (SMC) are carried out. As a result, the ASMC has a 50.35% lower average RMS error than the SMC controller, and a shorter settling time (5% criterion) (0.44 s compared to 2.11 s).

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“…The acceptable criterion is the values above 0.5, and as per Table 1, the average variance (AVE) of each structure is above 0.5. This variable is computed as 0.623 for utilitarianism, 0.546 for a new fashion product, 0.620 for personal taste, 0.597 for fashion enthusiasts, 0.739 for self-confidence, and 0.645 for buying behaviour In order to assess the correlation between the hidden variables [41,42,43,44], the intended data were taken from AVE and Correlation Latent Variable tables. As the square root of the AVE is more than the correlation of one structure to another, the sampling model's diagnosis at the level of structure is justifiable.…”

Section: Assessing Findings Reliability and Justification Of The Rese...mentioning

confidence: 99%

The Relationship between Consuming Fashion and Self-Confidence on the Buying Behaviour in the Clothing Market as a Mediator

Zam¹,

Tavakoli²,

Ramezanian³

et al. 2022

Preprint

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As a mediator variable, self-confidence is one of the most effective elements of the decision-making process of consumer behaviour. This research has studied the effects of different aspects of consuming fashion on the self-confidence and behaviour of consumers in Tehran’s clothing market. This study has considered the acceptance of new products, interest in mode and fashion, utilitarianism, and personal taste in its analysis. This research aims to understand the fashion buying behaviour amongst Iranian consumers in consideration of their attitude towards self-confidence and aspects of fashion consumption. The statistic sample is 400 consumers from Tehran’s clothing market who have been chosen based on the random availability procedure. The primary tool in this research was a questionary used to testify the assumptions and a model fit created by using structural equations and factor analysis. This research showed that the interest in mode and fashion, personal taste, utilitarianism, and new products positively impact self-confidence. In addition, the positive impact of self-confidence on fashion buying behaviour was confirmed.

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Design, implementation and control of a two-link fully-actuated robot capable of online identification of unknown dynamical parameters using adaptive sliding mode controller

Cited by 12 publications

References 11 publications

Flow metering and lane-changing optimal control with ramp-metering saturation

Flow metering and lane-changing optimal control with ramp-metering saturation

A Novel Adaptive Sliding Mode Controller for a 2-DOF Elastic Robotic Arm

The Relationship between Consuming Fashion and Self-Confidence on the Buying Behaviour in the Clothing Market as a Mediator

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