Direct Adaptive Fuzzy Sliding Mode Control for Multi-link Robots
A direct adaptive fuzzy sliding mode controller is presented for trajectory tracking control of multi-link robots with model errors and uncertain disturbances. This approach adopts a global sliding mode manifold which eliminates reaching mode phase of normal sliding mode manifold and enforce the controlled system robustness. An adaptive fuzzy controller is designed to learn the robot model error and uncertain disturbances. So the control system can automatically track the maximum limit of model errors and disturbances, and reduces chattering of the controller. Prediction estimation for model errors and disturbances of the control system is not needed too. Moreover, the system stability is proved by Lyapunov principle. Simulation results verify the validity of the control scheme.
adaptive fuzzy control model error chattering sliding mode manifold
Mu Xiaojiang Ge Li
Shenzhen institute of information technology, Shenzhen, 518029
国际会议
The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)
太原
英文
3242-3245
2012-05-23（万方平台首次上网日期，不代表论文的发表时间）