Improved sliding mode robot control - a fuzzy approach

被引：5
|
作者：
Iliev, B [1 ]
Kalaykov, I [1 ]
机构：
[1] Univ Orebro, Dept Technol, SE-70182 Orebro, Sweden
来源：
ROMOCO'02: PROCEEDINGS OF THE THIRD INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL | 2002年
关键词：
D O I：
10.1109/ROMOCO.2002.1177138
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 approach to the design of high performance sliding mode controllers for robot manipulators is presented. It employs a Takagi-Sugeno fuzzy system to describe the sliding surface. Each rule of this system represents the maximum slope sliding line for a certain set of parameters given in the premise part. Hence, the slope of the surface is adapted according to the current state of the manipulator. This new algorithm provides nearly time-optimal performance and still retains the robustness, typical for systems in sliding mode. The maximum slope sliding surfaces are designed using knowledge about robot's physical properties.
引用
收藏
页码：393 / 398
页数：6
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