Research on the Adaptive Fuzzy Sliding Mode Control of 2-DOF Robot

In this paper, two kinds of controllers are proposed, which are adaptive fuzzy sliding mode control and advanced adaptive fuzzy sliding mode control. These approaches use an adaptive fuzzy system to approximate the system whose model has uncertainty. The sliding mode control part is used to guarante...

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Bibliographic Details
Main Authors: Dawei Zhang, Shenmin Song
Format: Conference Proceeding
Language:English
Subjects:
Adaptive control
Adaptive systems
Control systems
Fuzzy control
Fuzzy systems
Programmable control
Robots
Sliding mode control
Stability
Uncertainty
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Summary:In this paper, two kinds of controllers are proposed, which are adaptive fuzzy sliding mode control and advanced adaptive fuzzy sliding mode control. These approaches use an adaptive fuzzy system to approximate the system whose model has uncertainty. The sliding mode control part is used to guarantee the stability of the system and resistant the disturbance in the control channel. Further more, advanced controller uses a separate adaptive fuzzy system to take place of the gain and sign function for eliminating the chatting, which caused by sliding mode control. So the control can resolve the problems in robotic nonlinear system.
DOI:10.1109/FSKD.2008.269