Adaptive fuzzy SMC control for nonlinear system of dual arm robot
In this paper, a stable adaptive fuzzy sliding mode controller is developed for a class of MIMO nonlinear systems. Fuzzy logic system is designed to estimate the unknown function. Parameter adaptive laws and robustifying control terms are derived based on Lyapunov theory, and boudedness of signals in the closed-loop system can be guaranteed. The proposed controllers were used in trajectory control of right arm of dual arm robot. The results indicate that the proposed controller has satisfying tracking performance with robust characteristics.
Dual arm robot Adaptive sliding mode control Fuzzy logic MIMO systems
Shaohua Luo Zhiling Wen Zhaoqin Liu
Department of Mechanical Engineering, Chongqing Aerospace Polytechnic College, Chongqing,400021, China
国际会议
黄山
英文
480-484
2012-07-10（万方平台首次上网日期，不代表论文的发表时间）