Adaptive Sliding Mode Control of Robot Manipulator Based on Second Order Approximation Accuracy and Decomposed Fuzzy Compensator

被引：6

作者：

Wan, Min ^{[1
]}

Tian, Qinglan ^{[1
]}

Wang, Mingcheng ^{[1
]}

机构：

[1] Southwest Petr Univ, Sch Mechatron Engn, Chengdu, Sichuan, Peoples R China

来源：

WIRELESS PERSONAL COMMUNICATIONS | 2018年 / 103卷 / 02期

关键词：

Robot manipulator; Uncertainty; Fuzzy compensator; Second order approximation; Adaptive sliding mode control; TRACKING CONTROL;

D O I：

10.1007/s11277-018-5421-2

中图分类号：

TN [电子技术、通信技术];

学科分类号：

0809 ;

摘要：

A kind of adaptive sliding mode control scheme for tracking control of robot manipulator which has structured uncertainties and unstructured uncertainties is proposed in this paper. Multi-input Multi-output fuzzy logical system (FLS) is used as a compensator in the control law to compensate all the uncertainties. To reduce the number of the fuzzy rules and the burden of the computation, we design FLS based on second order approximation theorem which can approximate the uncertain function with less fuzzy rules at arbitrary precision than traditional FLS. Besides, to further reduce the number of the fuzzy rules and the amount of calculation, a new decomposed fuzzy logical system based on the decomposition of membership function is proposed. From the simulation results we can see that the control scheme and the fuzzy compensator proposed in this paper can perform fairly.

引用

页码：1207 / 1218

页数：12

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