An adaptive fuzzy controller based on sliding mode for robot manipulators

F. C. Sun; Z. Q. Sun; G. Feng

doi:10.1109/3477.790451

Author(s)

F. C. Sun
Z. Q. Sun
G. Feng

Detail(s)

Original language	English
Pages (from-to)	661-667
Journal / Publication	IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Volume	29
Issue number	5
Publication status	Published - 1999
Externally published	Yes

Link(s)

DOI	DOI https://doi.org/10.1109/3477.790451 Final Published version
	Check@CityULib
Link to Scopus	https://www.scopus.com/record/display.uri?eid=2-s2.0-0032597797&origin=recordpage
Permanent Link	https://scholars.cityu.edu.hk/en/publications/publication(10900f5a-a4e9-4203-ac4d-a89ecd325aa6).html

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. © 1999 IEEE.

Research Area(s)

Adaptive fuzzy systems, Adaptive tracking control, Robot manipulators, Sliding mode control

Citation Format(s)

[ RIS ] [ BibTeX ]

An adaptive fuzzy controller based on sliding mode for robot manipulators. / Sun, F. C.; Sun, Z. Q.; Feng, G.
In: IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, Vol. 29, No. 5, 1999, p. 661-667.

Research output: Journal Publications and Reviews (RGC: 21, 22, 62) › 21_Publication in refereed journal › peer-review

Sun, FC, Sun, ZQ & Feng, G 1999, 'An adaptive fuzzy controller based on sliding mode for robot manipulators', IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, vol. 29, no. 5, pp. 661-667. https://doi.org/10.1109/3477.790451

Sun, F. C., Sun, Z. Q., & Feng, G. (1999). An adaptive fuzzy controller based on sliding mode for robot manipulators. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, 29(5), 661-667. https://doi.org/10.1109/3477.790451

Sun FC, Sun ZQ, Feng G. An adaptive fuzzy controller based on sliding mode for robot manipulators. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics. 1999;29(5):661-667. doi: 10.1109/3477.790451

Sun, F. C. ; Sun, Z. Q. ; Feng, G. / An adaptive fuzzy controller based on sliding mode for robot manipulators. In: IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics. 1999 ; Vol. 29, No. 5. pp. 661-667.