DocumentCode
3146662
Title
Fuzzy sliding mode control for a robot manipulator
Author
Bekit, B.W. ; Whidborne, J.F. ; Seneviratne, L.D.
Author_Institution
Dept. of Mech. Eng., King´´s Coll., London, UK
fYear
1997
fDate
10-11 Jul 1997
Firstpage
320
Lastpage
325
Abstract
A sliding mode control algorithm combined with a fuzzy control scheme is developed for the trajectory control of a robot manipulator. The scheme is used to compensate for the influence of unmodeled dynamics and to reduce chattering. Simulation results show that the proposed controller gives good system performance in the face of uncertain system parameters and external disturbances
Keywords
fuzzy control; fuzzy logic; manipulator dynamics; position control; uncertain systems; variable structure systems; dynamics; fuzzy control; fuzzy logic; manipulator; robot; sliding mode control; trajectory control; uncertain system; Acceleration; Fuzzy control; Fuzzy sets; Manipulator dynamics; Mechanical engineering; Payloads; Robots; Robust control; Sliding mode control; Transmission line matrix methods;
fLanguage
English
Publisher
ieee
Conference_Titel
Computational Intelligence in Robotics and Automation, 1997. CIRA'97., Proceedings., 1997 IEEE International Symposium on
Conference_Location
Monterey, CA
Print_ISBN
0-8186-8138-1
Type
conf
DOI
10.1109/CIRA.1997.613875
Filename
613875
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