Fuzzy terminal sliding-mode controller for robotic manipulators

被引：0
|
作者：
Huang, YC [1 ]
Li, THS [1 ]
机构：
[1] Natl Cheng Kung Univ, Dept Elect Engn, Lab IC2S, Tainan 70101, Taiwan
来源：
2005 IEEE International Conference on Mechatronics | 2005年
关键词：
sliding-mode control; terminal sliding mode; fuzzy logic controller; robotic manipulators;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, a new fuzzy terminal sliding-mode controller (FTSMC) is developed for robotic manipulators. A terminal sliding mode controller can drive the system tracking errors to converge to zero in finite time and the closed-loop system is infinitely stable. The FTSMC, incorporating the fuzzy logic controller and the terminal sliding-mode controller, is designed to retain the advantages of the terminal sliding-mode controller and to reduce the chattering. The simulation results show that the FTSMC can provide much good tracking performance than that of the classical fuzzy sliding-mode controller (FSMC).
引用
收藏
页码：858 / 863
页数：6
相关论文
共 50 条
  • [1] MIMO adaptive fuzzy terminal sliding-mode controller for robotic manipulators
    Li, Tzuu-Hseng S.
    Huang, Yun-Cheng
    [J]. INFORMATION SCIENCES, 2010, 180 (23) : 4641 - 4660
  • [2] An adaptive fuzzy sliding mode controller for robotic manipulators
    Guo, YZ
    Woo, PY
    [J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS, 2003, 33 (02): : 149 - 159
  • [3] Enhanced fuzzy sliding mode controller for robotic manipulators
    Zhao, Y.-S.
    Zhang, Y.-Q.
    Yang, J.
    Chen, L.-P.
    [J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 2007, 22 (02): : 170 - 183
  • [4] Fuzzy sliding-mode control based on state for robotic manipulators
    Chen, WD
    Wang, HT
    Tang, DZ
    Wang, HR
    [J]. 2003 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS, VOLS 1-5, PROCEEDINGS, 2003, : 957 - 960
  • [5] Adaptive second order terminal sliding mode controller for robotic manipulators
    Mondal, Sanjoy
    Mahanta, Chitralekha
    [J]. JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2014, 351 (04): : 2356 - 2377
  • [6] A fuzzy-sliding mode controller for robust tracking of robotic manipulators
    Choi, SB
    Kim, JS
    [J]. MECHATRONICS, 1997, 7 (02) : 199 - 216
  • [7] Adaptive Fuzzy Controller Design for Robotic Manipulators with Sliding Mode Control
    Kuo, T. C.
    Hong, B. W.
    Huang, Y. J.
    Chen, C. Y.
    [J]. 2008 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-5, 2008, : 581 - +
  • [8] Enhancement of sliding mode controller by fuzzy logic with application to robotic manipulators
    Abdelhameed, MM
    [J]. MECHATRONICS, 2005, 15 (04) : 439 - 458
  • [9] Continuous terminal sliding-mode controller
    Kamal, Shyam
    Moreno, Jaime A.
    Chalanga, Asif
    Bandyopadhyay, Bijnan
    Fridman, Leonid M.
    [J]. AUTOMATICA, 2016, 69 : 308 - 314
  • [10] Fuzzy Moving Fast Terminal Sliding Mode Control for Robotic Manipulators
    Shi, H. J.
    Qian, L. F.
    Xu, Y. D.
    Chen, L. M.
    [J]. 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012), 2012,
12345