Adaptive Fuzzy Sliding Mode Control for Robotic Manipulators

被引：3
|
作者：
Gao, Daoxiang [1 ]
Sun, Zenqi [2 ]
Wang, Wen [1 ]
机构：
[1] Beijing Forestry Univ, Sch Technol, Beijing 100083, Peoples R China
[2] Tsinghua Univ, Dept Comp Sci & Technol, Beijing 100084, Peoples R China
来源：
2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2010年
关键词：
Fuzzy control; Sliding mode control; Adaptive control; Hyperbolic model; Robotic Manipulator; SYSTEMS;
D O I：
10.1109/WCICA.2010.5554667
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An adaptive fuzzy sliding mode control scheme is designed for robotic manipulators. By transforming the sliding surface and using the hyperbolic tangent function, a fuzzy logic system is constructed to approximate the conventional sliding mode control. The continuous hyperbolic tangent function and the group of pseudo-sliding surfaces can eliminate the chattering effectively, and meanwhile, a satisfactory tracking accuracy can be achieved. Stability analysis shows that this approach can guarantee the boundedness of all the signals in the closed loop. Tracking performance is illustrated by simulation results.
引用
收藏
页码：4811 / 4816
页数：6
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