Fuzzy sliding mode control for a robot manipulator

被引：5

作者：

Bekit, BW

Whidborne, JF

Seneviratne, LD

机构：

来源：

1997 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION - CIRA '97, PROCEEDINGS: TOWARDS NEW COMPUTATIONAL PRINCIPLES FOR ROBOTICS AND AUTOMATION | 1997年

关键词：

D O I：

10.1109/CIRA.1997.613875

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 sliding mode control algorithm combined with a fuzzy control scheme is developed for the trajectory control of a robot manipulator. The scheme is used to compensate for the influence of unmodeled dynamics and to reduce chattering. Simulation results show that the proposed controller gives good system performance in the face of uncertain system parameters and external disturbances.

引用

页码：320 / 325

页数：6