Simulation of 2-DOF Articulated Robot Control Based on Adaptive Fuzzy Sliding Mode Control

被引：0

作者：

Du, Feng ^{[1
]}

Li, Gongfa ^{[1
,2
]}

Li, Zhe ^{[2
]}

Sun, Ying ^{[1
,2
]}

Kong, Jianyi ^{[1
,2
]}

Jiang, Guozhang ^{[1
,2
]}

Jiang, Du ^{[1
]}

机构：

[1] Wuhan Univ Sci & Technol, Key Lab Met Equipment & Control Technol, Minist Educ, Wuhan 430081, Peoples R China

[2] Wuhan Univ Sci & Technol, Hubei Key Lab Mech Transmiss & Mfg Engn, Wuhan 430081, Peoples R China

来源：

INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2017, PT I | 2017年 / 10462卷

关键词：

Sliding mode control's theory; Fuzzy control; Adaptive control; 2-DOF articulated robot;

D O I：

10.1007/978-3-319-65289-4_52

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

About the control of articulated robot, researchers put out an adaptive fuzzy sliding mode control algorithm by analyzing the classical sliding mode algorithm. There is an adaptive single input and output fuzzy to calculate the control gain. Meanwhile, researchers designed a adaptive law which is based on Lyapunov theory, and simulated the adaptive fuzzy sliding mode control in Simulink. Simulink results show that when the chattering exiting becomes weaker, the function of system is stronger. Since the adaptive algorithm joined, fuzzy sliding mode control can be different with the change of system's state and adjusted automatically. Steady-state convergence is constant, adaptive fuzzy sliding mode control algorithm still with a good robustness under the condition that articulated robot's parameters uncertain and external interference.

引用

页码：551 / 559

页数：9

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