DIRECT ADAPTIVE FUZZY MOVING SLIDING MODE CONTROLLER DESIGN FOR ROBOTIC MANIPULATORS

被引：3
|
作者：
Medhaffar, Hanene [1 ]
Damak, Tarak [2 ]
Derbel, Nabil [1 ]
机构：
[1] Ecole Natl Ingn Sfax BPW, Intelligent Control Design & Optimizat Complex Sy, Sfax 3038, Tunisia
[2] Ecole Natl Ingn Sfax BPW, Unite Commande Automat, Sfax 3038, Tunisia
来源：
INTERNATIONAL JOURNAL OF COMPUTATIONAL INTELLIGENCE AND APPLICATIONS | 2005年 / 5卷 / 01期
关键词：
Fuzzy control; moving sliding mode; direct adaptive control; robot manipulator;
D O I：
10.1142/S1469026805001490
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents an adaptive moving sliding mode fuzzy control for robotic manipulators. The consequence parameters of the fuzzy control rules are adjusted online by applying the Lyapunov stability condition. Furthermore, parameters tuning is carried out in order to guarantee the sliding condition. Comparison between zero order and first order Sugeno model are presented. Moreover, a time-varying sliding surface is used with the aim of enhancing tracking-performance. Indeed, moving sliding surface improves the robustness during the reaching phase against uncertainties, parameter variations and extraneous disturbances. As an illustration, the trajectory control of a two degrees-of-freedom robotic manipulator is considered.
引用
收藏
页码：1 / 20
页数：20
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