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Sliding mode control with online fuzzy tuning: Application to a robot manipulator

Javaheri, H ; Sharif University of Technology | 2005

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  1. Type of Document: Article
  2. Publisher: 2005
  3. Abstract:
  4. This paper presents an approach to improve the sliding mode controller performance. Accordingly, a fuzzy controller is designed based on a limited number of rules and independent of the sliding mode controller complexity. To enhance the performance, this controller will continuously optimize the sliding mode controller parameters including hitting control gain, boundary layer thickness, sliding surface slope and intercept. The controller is applied to a two-degree-of-freedom robot and the experimental results are compared with a QFT based and a PID controller. The results demonstrate the significant performance improvement of the proposed controller. © 2005 IEEE
  5. Keywords:
  6. Fuzzy tuning ; Sliding mode ; Computational complexity ; Degrees of freedom (mechanics) ; Fuzzy control ; Manipulators ; Performance ; Robots ; Tuning ; Sliding mode control
  7. Source: IEEE International Conference on Mechatronics and Automation, ICMA 2005, Niagara Falls, ON, 29 July 2005 through 1 August 2005 ; 2005 , Pages 1357-1362 ; 0780390458 (ISBN); 9780780390454 (ISBN)
  8. URL: https://ieeexplore.ieee.org/document/1626751