An Adaptive Fuzzy Sliding Mode Control Scheme for Robotic Systems
نویسندگان
چکیده
منابع مشابه
An Adaptive Fuzzy Sliding Mode Control Scheme for Robotic Systems
In this article, an adaptive fuzzy sliding mode control (AFSMC) scheme is derived for robotic systems. In the AFSMC design, the sliding mode control (SMC) concept is combined with fuzzy control strategy to obtain a model-free fuzzy sliding mode control. The equivalent controller has been substituted for by a fuzzy system and the uncertainties are estimated on-line. The approach of the AFSMC has...
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Two phenomena can produce chattering: switching of input control signal and the large amplitude of this switching (switching gain). To remove the switching of input control signal, dynamic sliding mode control (DSMC) is used. In DSMC switching is removed due to the integrator which is placed before the plant. However, in DSMC the augmented system (system plus the integrator) is one dimension bi...
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ژورنال
عنوان ژورنال: Intelligent Control and Automation
سال: 2011
ISSN: 2153-0653,2153-0661
DOI: 10.4236/ica.2011.24035