Enhanced fuzzy sliding mode controller for robotic manipulators

被引：0
|
作者：
Zhao, Y.-S. [1 ]
Zhang, Y.-Q. [1 ]
Yang, J. [2 ]
Chen, L.-P. [1 ]
机构：
[1] Center for Computer-Aided Design, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei 430074, China
[2] Center for Computer-Aided Design, University of Iowa, 111 Engineering Research Facility, Iowa City, IA 52246, United States
来源：
International Journal of Robotics and Automation | 2007年 / 22卷 / 02期
关键词：
This paper presents an enhanced fuzzy sliding mode controller (EF-SMC) for improving the tracking performance of robotic manipulators; in which the fuzzy logic system is adopted as the adaptation mechanism to tune the gain of the sliding mode controller. The EFSMC can drive the state variables of robotic manipulators to hit a user-defined sliding surface quickly and slide along it. The sliding and global stability conditions are formulated and analyzed in terms of Lyapunov full quadratic form. To satisfy the real-time requirement of the robot system; the region-wise linear technology is introduced to reduce the fuzzy rules of the EFSMC. The simulation results have shown that the proposed controller can achieve a higher performance with minimum reaching time and smooth control actions. In addition; it shows that the controller is effective and robust to the parametric variation and external disturbance;
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摘要：
Journal article (JA)
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页码：170 / 182
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