Title :
Indirect Fuzzy Adaptive Control of Robotic Manipulator Based on Sliding Mode Scheme
Author :
Qiao, Feng ; Zhu, Quanmin ; Winfield, Alan ; Melhuish, Chris ; Zhang, Lifeng
Author_Institution :
Shenyang Jianzhu Univ., Shenyang
Abstract :
An indirect fuzzy adaptive controller is designed in this paper based on sliding mode scheme to tackle the tracking control issue of a 2D SCARA robot manipulator with system dynamic model uncertainties and external disturbances. The stability of the system is ensured by the controller designed under the Lyapunov´s stability theorem, and the effectiveness of the proposed controller is verified by simulation studies with MatLab for the trajectory tracking control.
Keywords :
Lyapunov methods; adaptive control; control system synthesis; fuzzy control; manipulators; stability; tracking; uncertain systems; variable structure systems; 2D SCARA robot manipulator; Lyapunov stability theorem; dynamic model uncertainties; indirect fuzzy adaptive control; sliding mode scheme; tracking control; Adaptive control; Fuzzy control; Fuzzy systems; Manipulator dynamics; Mathematical model; Programmable control; Robots; Sliding mode control; Stability; Uncertainty; Adaptive control; fuzzy systems; robot manipulation; sliding mode control;
Conference_Titel :
Mechatronics and Automation, 2007. ICMA 2007. International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-0828-3
Electronic_ISBN :
978-1-4244-0828-3
DOI :
10.1109/ICMA.2007.4304093
