Fuzzy sliding mode control for a robot manipulator

被引：11
|
作者：
Thinh Ngo H.Q. [1 ]
Shin J.-H. [2 ]
Kim W.-H. [2 ]
机构：
[1] Department of Intelligent System Engineering, Graduate School of Dong-eui University, Busan
[2] Department of Mechatronics Engineering, Dong-eui University, Busan
来源：
Artif. Life Rob. | 2008年 / 1卷 / 124-128期
关键词：
Fuzzy logic control; Fuzzy sliding mode control; Robot manipulator; Stability; Tracking control;
D O I：
10.1007/s10015-008-0531-7
中图分类号：
学科分类号：
摘要：
This work presents the design of a robust control system using a sliding mode controller that incorporates a fuzzy control scheme. The presented control law superposes a sliding mode controller and a fuzzy logic controller. A fuzzy tuning scheme is employed to improve the performance of the control system. The proposed fuzzy sliding mode control (FSMC) scheme utilizes the complementary cooperation of the traditional sliding mode control (SMC) and the fuzzy logic control (FLC). In other words, the proposed control scheme has the advantages which it can guarantee the stability in the sense of Lyapunov function theory and can ameliorate the tracking errors, compared with the FLC and SMC, respectively. Simulation results for the trajectory tracking control of a two-link robot manipulator are presented to show the feasibility and robustness of the proposed control scheme. © International Symposium on Artificial Life and Robotics (ISAROB). 2008.
引用
收藏
页码：124 / 128
页数：4
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