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
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;
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
DOI :
10.1109/CIRA.1997.613875
