Fuzzy sliding mode control for robotic manipulators based on systemic state

被引：0
|
作者：
Wang, HR [1 ]
Chen, WD [1 ]
Wang, HT [1 ]
Xiao, JZ [1 ]
机构：
[1] Yanshan Univ, Dept Elect Engn, Qinhuangdao 066004, Peoples R China
来源：
2003 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS, VOLS 1-5, PROCEEDINGS | 2003年
关键词：
convergence; boundary layer control; chaffering; sliding mode control; fuzzy logic;
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 novel fuzzy sliding mode controller for robotic manipulators is proposed. The use of a boundary layer in sliding-mode control has been a common technique to reduce chattering of the control input. However, different choices of the boundary layer width lead to conflicting effects: A large/small width of the boundary layer can more/less effectively alleviate the chattering of the control, but lead to less/more accurate control results. This note applies fuzzy logic to adjusting the width of the boundary layer based on the state. The method can effectively eliminate chaffering and ensure almost perfect control accuracy at the same time.
引用
收藏
页码：793 / 796
页数：4
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