MIMO adaptive fuzzy terminal sliding-mode controller for robotic manipulators

被引：130
作者：
Li, Tzuu-Hseng S. [1 ]
Huang, Yun-Cheng [1 ]
机构：
[1] Natl Cheng Kung Univ, Dept Elect Engn, AiRobots Lab, Tainan 70101, Taiwan
来源：
INFORMATION SCIENCES | 2010年 / 180卷 / 23期
关键词：
Adaptive control; Fuzzy logic controller; Robotic manipulators; Sliding-mode; Terminal sliding-mode; NONLINEAR-SYSTEMS; ROBUST STABILITY; NEURAL-NETWORKS; DESIGN; SCHEME; LOGIC;
D O I：
10.1016/j.ins.2010.08.009
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A new design approach of a multiple-input-multiple-output (MIMO) adaptive fuzzy terminal sliding-mode controller (AFTSMC) for robotic manipulators is described in this article A terminal sliding-mode controller (TSMC) can drive system tracking error to converge to zero in finite time. The AFTSMC. incorporating the fuzzy logic controller (FLC), the TSMC, and an adaptive scheme, is designed to retain the advantages of the TSMC while reducing the chattering The adaptive law is designed on the basis of the Lyapunov stability criterion The self-tuning parameters are adapted online to improve the performance of the fuzzy terminal sliding-mode controller (FTSMC) Thus. it does not require detailed system parameters for the presented AFTSMC The simulation results demonstrate that the MIMO AFTSMC can provide a reasonable tracking performance (C) 2010 Elsevier Inc All rights reserved.
引用
收藏
页码：4641 / 4660
页数：20
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