A decoupled fuzzy indirect adaptive sliding mode controller with application to robot manipulator

被引：23

作者：

Medhaffar, Hanene ^{[1
]}

Derbel, Nabil ^{[1
]}

Damak, Tarak ^{[2
]}

机构：

[1] Ecole Natl Ingenieurs Sfax, Intelligent Control Design & Optimizat Complex Sy, BPW 3038, Sfax, Tunisia

[2] Ecole Natl Ingenieurs Sfax, UCA, Sfax, Tunisia

来源：

INTERNATIONAL JOURNAL OF MODELLING IDENTIFICATION AND CONTROL | 2006年 / 1卷 / 01期

关键词：

Fuzzy Logic System (FLS); decoupled sliding mode control; indirect adaptive control; robot manipulator;

D O I：

10.1504/IJMIC.2006.008644

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a decoupled adaptive fuzzy Sliding Mode Control (SMC) for robotic manipulators. This controller is proposed for a class of Multiple-Input Multiple-Output (MIMO) systems with unknown non-linear dynamics. Indeed, an online fuzzy adaptation scheme is suggested to approximate unknown non-linear functions to design SMC. Moreover, the proposed controller is replaced by a local decoupled controller for each arm. The stability of the proposed control scheme is proved. As an illustration, the trajectory control of a two-degrees-of-freedom robotic manipulator is considered.

引用

页码：23 / 29

页数：7