Fuzzy sliding-mode control based on state for robotic manipulators

被引：1

作者：

Chen, WD ^{[1
]}

Wang, HT ^{[1
]}

Tang, DZ ^{[1
]}

Wang, HR ^{[1
]}

机构：

[1] Yanshan Univ, Dept Elect Engn, Qinhuangdao 066004, Peoples R China

来源：

2003 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS, VOLS 1-5, PROCEEDINGS | 2003年

关键词：

convergence; boundary layer control; chattering; sliding mode control; fuzzy logic;

D O I：

10.1109/ICMLC.2003.1259618

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, a novel fuzzy sliding mode controller for robotic manipulator is proposed. The use of a boundary layer in sliding-mode control has been a common technique to reduce chattering of the control signal. However, different choices of the boundary layer width lead to conflicting effects: A large/small width of the boundary layer can more/less effectively alleviate the chattering of the control, but can lead to less/more accurate control results. This note applies fuzzy logic based on the state to adjusting the width of the boundary layer. This method can effectively eliminate chattering while at the same time ensure almost perfect control accuracy.

引用

页码：957 / 960

页数：4

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