An investigation of adaptive fuzzy sliding mode control for robotic manipulators
作者： Howard M. Schwartz , Xiaosong Lu
DOI:
关键词:
摘要: In this paper, we investigated five adaptive fuzzy sliding mode control algorithms applied to a two-degree-of-freedom robotic manipulator. A discussion of algorithmic differences follows including comparison how well they perform in simulations.
acm.org 参考文章(14)
Li-Xin Wang, A Course In Fuzzy Systems and Control ,(1996)
M.-R. Akbarzadeh-T., R. Shahnazi, Direct adaptive fuzzy PI sliding mode control for a class of uncertain nonlinear systems systems, man and cybernetics. ,vol. 3, pp. 2548- 2553 ,(2005) , 10.1109/ICSMC.2005.1571532
C.F. Hsu, C.M. Lin, Adaptive fuzzy sliding-mode control for induction servomotor systems IEEE Transactions on Energy Conversion. ,vol. 19, pp. 362- 368 ,(2004) , 10.1109/TEC.2003.821859
Hanene Medhaffar, Nabil Derbel, Tarak Damak, A decoupled fuzzy indirect adaptive sliding mode controller with application to robot manipulator International Journal of Modelling, Identification and Control. ,vol. 1, pp. 23- 29 ,(2006) , 10.1504/IJMIC.2006.008644
R. Shahnazi, H.M. Shanechi, N. Pariz, Position Control of Induction and DC Servomotors: A Novel Adaptive Fuzzy PI Sliding Mode Control IEEE Transactions on Energy Conversion. ,vol. 23, pp. 138- 147 ,(2008) , 10.1109/TEC.2007.905070
Chuen-Tsai Sun, Jyh-Shing Roger Jang, Neuro-Fuzzy and Soft Computing: A Computational Approach to Learning and Machine Intelligence ,(1996)
H.F. Ho, Y.K. Wong, A.B. Rad, Adaptive fuzzy sliding mode control design: Lyapunov approach asian control conference. ,vol. 3, pp. 1502- 1507 ,(2004)
Juhng Perng Su, Ching Ting Huang, Sigma adaptive fuzzy sliding mode control of a class of nonlinear systems International Journal of Systems Science. ,vol. 31, pp. 949- 959 ,(2000) , 10.1080/002077200412104
Yuzheng Guo, Peng-Yung Woo, An adaptive fuzzy sliding mode controller for robotic manipulators systems man and cybernetics. ,vol. 33, pp. 149- 159 ,(2003) , 10.1109/TSMCA.2002.805804
Howard M. Schwartz, Model reference adaptive control for robotic manipulators without velocity measurements International Journal of Adaptive Control and Signal Processing. ,vol. 8, pp. 279- 285 ,(1994) , 10.1002/ACS.4480080305