Fuzzy sliding mode control for a robot manipulator |
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Authors: | Ha Quang Thinh Ngo Jin-Ho Shin Won-Ho Kim |
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Affiliation: | (1) Department of Intelligent System Engineering, Graduate School of Dong-eui University, Busan, Korea;(2) Department of Mechatronics Engineering, Dong-eui University, Busan, Korea |
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Abstract: | This work presents the design of a robust control system using a sliding mode controller that incorporates a fuzzy control
scheme. The presented control law superposes a sliding mode controller and a fuzzy logic controller. A fuzzy tuning scheme
is employed to improve the performance of the control system. The proposed fuzzy sliding mode control (FSMC) scheme utilizes
the complementary cooperation of the traditional sliding mode control (SMC) and the fuzzy logic control (FLC). In other words,
the proposed control scheme has the advantages which it can guarantee the stability in the sense of Lyapunov function theory
and can ameliorate the tracking errors, compared with the FLC and SMC, respectively. Simulation results for the trajectory
tracking control of a two-link robot manipulator are presented to show the feasibility and robustness of the proposed control
scheme.
This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January
31–February 2, 2008 |
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Keywords: | Fuzzy sliding mode control Fuzzy logic control Stability Robot manipulator Tracking control |
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