Fuzzy Reaching Law Sliding Mode Control of Robot Manipulators

Author

Chen, Zhimei ; Meng, Wenjun ; Jinggang ; Wang, He

Author_Institution

Sch. of Electron. Inf. Eng., Taiyuan Univ. of Sci. & Technol., Taiyuan

Volume

2

fYear

2008

fDate

19-20 Dec. 2008

Firstpage

393

Lastpage

397

Abstract

A new method of fuzzy reaching law sliding mode variable structure control of robot manipulators is proposed, which is formed by incorporating sliding mode control and fuzzy control with reaching law. This method converts of a multi-input system into single-input systems. It can not only track approximately the desired trajectory and make system have good control property, but also completely eliminate the chattering of conventional sliding mode control. The stability of system is proved by using Lyapunov function. The simulation results of a two-degree-of-freedom robot manipulators show that the validity of this method.

Keywords

Lyapunov methods; fuzzy control; manipulators; stability; variable structure systems; Lyapunov function; fuzzy reaching law sliding mode control; robot manipulator; stability; variable structure control; Control systems; Frequency; Fuzzy control; Intelligent robots; Manipulator dynamics; Nonlinear systems; Robot control; Service robots; Sliding mode control; Switches; fuzzy control; reaching law; robot manipulators; sliding mode variable structure control;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence and Industrial Application, 2008. PACIIA '08. Pacific-Asia Workshop on

Conference_Location

Wuhan

Print_ISBN

978-0-7695-3490-9

Type

conf

DOI

10.1109/PACIIA.2008.302

Filename

4756803