Fuzzy-Sliding Mode Force Control Research on Robotic Machining
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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Most Fuzzy Controlers (FCs) for nonlinear 2nd order systems are designed with a two-dimensional phase plane in mind. We show that the performance and the robustness of this kind of FCs stems from their property of driving the system into the so-called sliding mode (SM) in which the controlled system is invariant to parameter fluctuations and disturbances. Additionally, the continuous distributi...
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sliding mode control (smc) is a powerful approach to solve the tracking problem for dynamical systems with uncertainties. however, the traditional smcs introduce actuator chattering phenomenon which performs a desirable behavior in many physical systems such as servo control and robotic systems, particularly, when the zero steady state error is required. many methods have been proposed to el...
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ژورنال
عنوان ژورنال: Journal of Robotics
سال: 2017
ISSN: 1687-9600,1687-9619
DOI: 10.1155/2017/8128479