Abdel Badie Sharkawy

Learn More
Since the emergence of PID controllers, control system engineers are in pursuit of more and more sophisticated versions of these controllers to achieve better performance, particularly in situations where providing a control action to even a minimal degree of satisfaction is a problem. This work is an attempt to contribute in this field. Variations in the(More)
In this article, an adaptive fuzzy sliding mode control (AFSMC) scheme is derived for robotic systems. In the AFSMC design, the sliding mode control (SMC) concept is combined with fuzzy control strategy to obtain a model-free fuzzy sliding mode control. The equivalent controller has been substituted for by a fuzzy system and the uncertainties are estimated(More)
This paper presents the application of an adaptive fuzzy logic controller with feed-forward component (AFLCF) to the Selective Compliance Assembly Robot Arm (SCARA Robot). The feed forward torque component is computed on-line using an artificial neural network (ANN) which has been trained off-line. This feed-forward component is designed to deliver the(More)
—This paper develops a new model-free control scheme based on artificial neural networks (ANN) for trajectory tracking applied on industrial manipulators. This scheme is developed to control arm robot manipulator without calculate the model parameters or dynamics, and use the online identification instead. The scheme consists of three parts. These parts are(More)
  • 1