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
相关论文
共 53 条
  • [41] An observer-based approach to controlling time-delay chaotic systems via Takagi-Sugeno fuzzy model
    Ting, Chen-Sheng
    [J]. INFORMATION SCIENCES, 2007, 177 (20) : 4314 - 4328
  • [42] Fuzzy adaptive backstepping robust control for SISO nonlinear system with dynamic uncertainties
    Tong, Shaocheng
    Li, Yongming
    Shi, Peng
    [J]. INFORMATION SCIENCES, 2009, 179 (09) : 1319 - 1332
  • [43] Neural-Network-Based Terminal Sliding-Mode Control of Robotic Manipulators Including Actuator Dynamics
    Wang, Liangyong
    Chai, Tianyou
    Zhai, Lianfei
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2009, 56 (09) : 3296 - 3304
  • [44] A fuzzy sliding controller for nonlinear systems
    Wong, LK
    Leung, FHF
    Tam, PKS
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2001, 48 (01) : 32 - 37
  • [45] Fuzzy Sliding-Mode Control of Active Suspensions
    Yagiz, Nurkan
    Hacioglu, Yuksel
    Taskin, Yener
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2008, 55 (11) : 3883 - 3890
  • [46] Robust stability and stabilizing controller design of fuzzy systems with discrete and distributed delays
    Yoneyama, Jun
    [J]. INFORMATION SCIENCES, 2008, 178 (08) : 1935 - 1947
  • [47] Adaptive dynamic surface control of flexible-joint robots using self-recurrent wavelet neural networks
    Yoo, Sung Jin
    Park, Jin Bae
    Choi, Yoon Ho
    [J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, 2006, 36 (06): : 1342 - 1355
  • [48] Fast terminal sliding-mode control design for nonlinear dynamical systems
    Yu, XH
    Man, ZH
    [J]. IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS, 2002, 49 (02) : 261 - 264
  • [49] Toward a generalized theory of uncertainty (GTU) - an outline
    Zadeh, LA
    [J]. INFORMATION SCIENCES, 2005, 172 (1-2) : 1 - 40
  • [50] Is there a need for fuzzy logic?
    Zadeh, Lotfi A.
    [J]. INFORMATION SCIENCES, 2008, 178 (13) : 2751 - 2779
123456