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
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