Nonsingular Fast Terminal Sliding Mode Controller for a Robotic System: A Fuzzy Approach

被引：2
|
作者：
Alnufaie, Lafi [1 ]
机构：
[1] Shaqra Univ, Engn Coll, Dept Elect Engn, Shaqra 11961, Saudi Arabia
来源：
IEEE ACCESS | 2023年 / 11卷
关键词：
Robotic systems; nonsingular fast terminal sliding mode control;
D O I：
10.1109/ACCESS.2023.3288000
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this work a combination of type 2 fuzzy logic and nonsingular fast sliding mode technique is proposed to design a robust controller for a robotic system. Indeed, a nominal type 2 fuzzy model is used to contract the equivalent control signal. The switching signal is designed using adaptive type 2 fuzzy systems to overcome the knowledge of the upper bounds of uncertainties and external disturbances. Several simulation results are given to show the efficiency of the proposed approach.
引用
收藏
页码：75522 / 75527
页数：6
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