Variable Structure Control Based on Fuzzy Law for Underactuated Robot Manipulators

Author

Lin, Zhuang ; Zhu, Qidan ; Yan, Yongjie

Author_Institution

Coll. of Autom., Harbin Eng. Univ.

fYear

2006

fDate

25-28 June 2006

Firstpage

1908

Lastpage

1913

Abstract

This paper presents a stable sliding-mode control method for horizontal underactuated 2-DOF robot manipulators. First we define a two-level sliding surface for the whole system by divide the system into two subsystems. Then we use the Lyapunov feedback law to design a controller for the system with the fuzzy controller automatically tunes the slopes of sliding mode surface on line. The asymptotic stability of the sliding surfaces is established and proved theoretically in Lyapunov sense. Simulation results on the underactuated manipulators show that the whole system can be drive to the desire positions and get better system dynamic performance than the normal sliding mode control

Keywords

Lyapunov methods; asymptotic stability; control system synthesis; feedback; fuzzy control; manipulators; variable structure systems; Lyapunov feedback; asymptotic stability; fuzzy control; sliding-mode control; underactuated robot manipulators; variable structure control; Asymptotic stability; Automatic control; Control systems; Feedback; Fuzzy control; Fuzzy systems; Manipulator dynamics; Robotics and automation; Robots; Sliding mode control; fuzzy control; robot; sliding mode; underactuated;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on

Conference_Location

Luoyang, Henan

Print_ISBN

1-4244-0465-7

Electronic_ISBN

1-4244-0466-5

Type

conf

DOI

10.1109/ICMA.2006.257545

Filename

4026386