DIRECT ADAPTIVE FUZZY MOVING SLIDING MODE CONTROLLER DESIGN FOR ROBOTIC MANIPULATORS-Reference-Cited by-同舟云学术

DIRECT ADAPTIVE FUZZY MOVING SLIDING MODE CONTROLLER DESIGN FOR ROBOTIC MANIPULATORS

Published:2005-03 Issue:01 Volume:05 Page:1-20
ISSN:1469-0268
Container-title:International Journal of Computational Intelligence and Applications
language:en
Short-container-title:Int. J. Comp. Intel. Appl.

Author:

MEDHAFFAR HANÈNE¹,DAMAK TARAK²,DERBEL NABIL¹

Affiliation:

1. Intelligent Control, design and Optimization of Complex Systems (ICOS), Ecole Nationale des Ingénieurs de Sfax B.P.W. 3038, Sfax, Tunisie

2. Unité de Commande Automatique (UCA), Ecole Nationale des Ingénieurs de Sfax B.P.W. 3038, Sfax, Tunisie

Abstract

This paper presents an adaptive moving sliding mode fuzzy control for robotic manipulators. The consequence parameters of the fuzzy control rules are adjusted online by applying the Lyapunov stability condition. Furthermore, parameters tuning is carried out in order to guarantee the sliding condition. Comparison between zero order and first order Sugeno model are presented. Moreover, a time-varying sliding surface is used with the aim of enhancing tracking-performance. Indeed, moving sliding surface improves the robustness during the reaching phase against uncertainties, parameter variations and extraneous disturbances. As an illustration, the trajectory control of a two degrees-of-freedom robotic manipulator is considered.

Publisher

World Scientific Pub Co Pte Lt

Subject

Computer Science Applications,Theoretical Computer Science,Software

Link

https://www.worldscientific.com/doi/pdf/10.1142/S1469026805001490

Reference26 articles.

1. Indirect adaptive fuzzy sliding mode control: Part II: parameter projection and supervisory control

2. Rule regulation of fuzzy sliding mode controller design: direct adaptive approach

3. Design and stability analysis of single-input fuzzy logic controller

4. A time-varying sliding surface for fast and robust tracking control of second-order uncertain systems

5. Sliding Mode Control of a Three Degrees of Freedom Anthropoid Robot by Driving the Controller Parameters to an Equivalent Regime

Cited by 10 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. FUZZY FRACTIONAL ORDER SLIDING MODE CONTROL FOR OPTIMAL ENERGY CONSUMPTION-TRANSIENT RESPONSE TRADE-OFF IN ROBOTIC SYSTEMS;Fractals;2024-01

2. ON THE ASYMPTOTIC STABILITY OF A NEW FRACTIONAL-ORDER SLIDING MODE CONTROL WITH APPLICATION TO ROBOTIC SYSTEMS;Fractals;2024-01

3. Adaptive Discrete-time Fuzzy Sliding Mode Control For a Class of Chaotic Systems;Advances in Science, Technology and Engineering Systems Journal;2017-05

4. On the Sliding Control;Applications of Sliding Mode Control;2016-10-15

5. Experimental and Numerical Comparison Between Two Nonlinear Control Logics;International Journal of Applied Mechanics;2016-07