A revised adaptive fuzzy sliding mode controller for robotic manipulators

被引：0
|
作者：
Lu, Xiaosong [1 ]
Schwartz, Howard M. [1 ]
机构：
[1] Department of Systems and Computer Engineering, Carleton University, Ottawa, ON
来源：
International Journal of Modelling, Identification and Control | 2008年 / 4卷 / 02期
关键词：
Adaptive; Fuzzy systems; Sliding mode control;
D O I：
10.1504/IJMIC.2008.021090
中图分类号：
学科分类号：
摘要：
In this paper, we revise an adaptive fuzzy sliding mode control algorithm applied to a robotic manipulator. Lyapunov stability of the overall system for the revised algorithm is proven. Simulation of a two degree of freedom manipulator is used to demonstrate the method. A discussion of the proof of Lyapunov stability for different algorithms is presented. Copyright © 2008, Inderscience Publishers.
引用
收藏
页码：127 / 133
页数：6
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