Design of Adaptive Fuzzy Sliding Mode Controller for Robot Manipulators
Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review
Author(s)
Detail(s)
| Original language | English |
|---|---|
| Title of host publication | IEEE International Conference on Fuzzy Systems |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. |
| Pages | 62-67 |
| Volume | 1 |
| ISBN (print) | 0780336453 |
| Publication status | Published - Sept 1996 |
| Externally published | Yes |
Conference
| Title | Proceedings of the 1996 5th IEEE International Conference on Fuzzy Systems. Part 1 (of 3) |
|---|---|
| City | New Orleans, LA, USA |
| Period | 8 - 11 September 1996 |
Link(s)
Abstract
In this paper, the adaptive fuzzy system is used as an adaptive approximator for robot nonlinear dynamics. A theoretical justification for the adaptive approximator is provided by proving that if the representative point (RP or switching function) and its derivative in sliding mode control are used as the inputs of the adaptive fuzzy system, the adaptive fuzzy system can approximate the plant nonlinear dynamics in the neighborhood of the switching hyperplane. Thus the fuzzy controller design is greatly simplified, and at the same time, the fuzzy control rules can be obtained easily by the reaching condition due to the sliding mode control. Based on this, 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 proved by Lyapunov techniques that yield a novel adaptive parameter learning law.
Citation Format(s)
Design of Adaptive Fuzzy Sliding Mode Controller for Robot Manipulators. / Sun, F. C.; Sun, Z. Q.; Feng, G.
IEEE International Conference on Fuzzy Systems. Vol. 1 Institute of Electrical and Electronics Engineers, Inc., 1996. p. 62-67.
IEEE International Conference on Fuzzy Systems. Vol. 1 Institute of Electrical and Electronics Engineers, Inc., 1996. p. 62-67.
Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review
