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
收藏
页码：23 / 29
页数：7
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