Stable Fuzzy PD Control with Parallel Sliding Mode Compensation with Application to Rigid Manipulator
TLDR
The asymptotic stability of fuzzy PD control with first- order sliding mode compensation in the parallel structure is proven and the finite time convergence with a super-twisting second-order sliding-mode is guaranteed.Abstract:
Both fuzzy logic and sliding mode can compensate the steady-state error of proportional- derivative (PD) control. This paper presents parallel sliding mode compensations for fuzzy PD controllers. The asymptotic stability of fuzzy PD control with first- order sliding mode compensation in the parallel structure is proven. For the parallel structure, the finite time convergence with a super-twisting second-order sliding-mode is guaranteed.read more
Citations
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Design Sliding Mode Controller of with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator
TL;DR: In this article, parallel fuzzy logic theory is used to compensate the system dynamic uncertainty, and the nonlinear equivalent dynamic formulation problem and chattering phenomenon in uncertain system can be solved by using artificial intelligence theorem.
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Design Sliding Mode Modified Fuzzy Linear Controller with Application to Flexible Robot Manipulator
TL;DR: The proposed fuzzy logic scheme finds an optimum control gain that minimizes the tip vibration for the end effector of the flexible manipulator and is compared to results for other types of gains.
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Artificial Chattering Free on-line Modified Sliding Mode Algorithm: Applied in Continuum Robot Manipulator
TL;DR: This controller solved chattering phenomenon as well as mathematical nonlinear equivalent part by applied modified PID supervisory method in modified fuzzy sliding mode controller and tuning the sliding function.
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Artificial Error Tuning Based on Design a Novel SISO Fuzzy Backstepping Adaptive Variable Structure Control
TL;DR: This paper examines single input single output (SISO) chattering free variable structure control (VSC) which controller coefficient is on-line tuned by fuzzy backstepping algorithm to control of continuum robot manipulator.
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Design Parallel Fuzzy Partly Inverse Dynamic Method plus Gravity Control for Highly Nonlinear Continuum Robot
TL;DR: The results demonstrate that the error-based parallel fuzzy inverse dynamic plus gravity controller is a partly model-free controllers which works well in certain and partly uncertain system.
References
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Applied Nonlinear Control
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
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Modern control engineering
TL;DR: This comprehensive treatment of the analysis and design of continuous-time control systems provides a gradual development of control theory and shows how to solve all computational problems with MATLAB.
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Robot dynamics and control
TL;DR: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control, providing background material on terminology and linear transformations and examples illustrating all aspects of the theory and problems.
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Springer Handbook of Robotics
Bruno Siciliano,Oussama Khatib +1 more
TL;DR: The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications.
Journal ArticleDOI
Adaptive control of robot manipulator using fuzzy compensator
Byung Kook Yoo,Woon Chul Ham +1 more
TL;DR: Two kinds of adaptive control schemes for robot manipulator which has the parametric uncertainties are presented and the proposed controllers are robust not only to the structured uncertainty such as payload parameter, but also to the unstructured one such as friction model and disturbance.