Journal ArticleDOI
An adaptive fuzzy controller based on sliding mode for robot manipulators
Fuchun Sun,Z.Q. Sun,Gang Feng +2 more
- Vol. 29, Iss: 5, pp 661-667
TLDR
This paper considers adaptive fuzzy control of robotic manipulators based on sliding mode and shows that an adaptive fuzzy system with the system representative point and its derivative as inputs can approximate the robot nonlinear dynamics in the neighborhood of the switching hyperplane.Abstract:
This paper considers adaptive fuzzy control of robotic manipulators based on sliding mode. It is first shown that an adaptive fuzzy system with the system representative point (RP, or as is often termed, a switching function in variable structure control (VSC) theory) and its derivative as inputs, can approximate the robot nonlinear dynamics in the neighborhood of the switching hyperplane. Then a new method for designing an adaptive fuzzy control system based on sliding mode is proposed for the trajectory tracking control of a robot with unknown nonlinear dynamics. The system stability and tracking error convergence are also proved by Lyapunov techniques.read more
Citations
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Journal ArticleDOI
An adaptive fuzzy sliding mode controller for robotic manipulators
Yuzheng Guo,Peng-Yung Woo +1 more
TL;DR: An adaptive fuzzy sliding mode controller for robotic manipulators using an adaptive single-input single-output (SISO) fuzzy system is applied to calculate each element of the control gain vector in a sliding mode controllers based on the Lyapunov method.
Journal ArticleDOI
Adaptive fuzzy terminal sliding mode controller for linear systems with mismatched time-varying uncertainties
TL;DR: An adaptive fuzzy terminal sliding mode controller for linear systems with mismatched time-varying uncertainties is presented and the chattering around the sliding surface in the sliding mode control can be reduced by the proposed design approach.
Journal ArticleDOI
Fuzzy-Neural-Network Inherited Sliding-Mode Control for Robot Manipulator Including Actuator Dynamics
Rong-Jong Wai,Rajkumar Muthusamy +1 more
TL;DR: The design and analysis of an intelligent control system that inherits the robust properties of sliding-mode control (SMC) for an n-link robot manipulator, including actuator dynamics in order to achieve a high-precision position tracking with a firm robustness is presented.
Journal ArticleDOI
Robust Adaptive Control of MEMS Triaxial Gyroscope Using Fuzzy Compensator
Juntao Fei,Jian Zhou +1 more
TL;DR: A fuzzy logic controller that could compensate for the model uncertainties and external disturbances is incorporated into the adaptive control scheme in the Lyapunov framework and can guarantee the convergence and asymptotical stability of the closed-loop system.
Journal ArticleDOI
A computed torque controller for uncertain robotic manipulator systems: Fuzzy approach
TL;DR: A new approach combing CTC and Fuzzy Control is developed for trajectory tracking problems of robotic manipulators with structured uncertainty and/or unstructured uncertainty and indicates that CTC method is also valid for controlling uncertain robotic manipulator as long as compensative controller is appropriately designed.
References
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Journal ArticleDOI
Variable structure control: a survey
John Y. Hung,W. Gao,J.C. Hung +2 more
TL;DR: A tutorial account of variable structure control with sliding mode is presented, introducing in a concise manner the fundamental theory, main results, and practical applications of this powerful control system design approach.
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Gaussian networks for direct adaptive control
TL;DR: A direct adaptive tracking control architecture is proposed and evaluated for a class of continuous-time nonlinear dynamic systems for which an explicit linear parameterization of the uncertainty in the dynamics is either unknown or impossible.
Proceedings ArticleDOI
Sliding mode fuzzy control
TL;DR: In this article, the structure of a fuzzy controller is derived from a nonlinear state equation representing a large class of physical systems, and stability conditions, scaling of the state vector, choice of the switching line, and determination of the break frequencies of the controller are discussed.
Journal ArticleDOI
A stability approach to fuzzy control design for nonlinear systems
Guang-Chyan Hwang,Shih-Chang Lin +1 more
TL;DR: The fuzzy sliding mode control method, developed by the application of fuzzy set theory, provides a simple way to achieve asymptotic stability of the systems and is capable of handling the chattering problem inherent to sliding Mode control simply and effectively.
Journal ArticleDOI
Adaptive fuzzy sliding mode control of nonlinear system
Byungkook Yoo,Woonchul Ham +1 more
TL;DR: Two methods of adaptive SMC schemes that the fuzzy logic systems (approximators) are used to approximate the unknown system functions in designing the SMC of nonlinear system are proposed.