Fast Terminal Fuzzy Sliding Mode Control for a Three-links Spatial Robot
To achieve high performance tracing control of the three-links spatial robot, a fast terminal fuzzy sliding mode control method is proposed in this paper.Firstly, the control method can efficiently solve the singularity of the controller through switching between terminal sliding mode surface and linear sliding mode surface.Secondly, to diminish the chattering in the control input, a fuzzy controller is designed to adjust the generalized gain of fast terminal fuzzy sliding mode controller according to fast terminal slidiug mode surface.The stability of the control algorithm is verified by using Lyapunov theory.The proposed controller is then applied to the control of a three-links spatial robot.Simulation results show the validity of the proposed control scheme.
sliding mode control terminal sliding mode fuzzy control Lyapunov method
Shengbin Hu Wenhua Lu Damin Cao Hairong Xu
School of Air Transportation,Shanghai University of Engineering Science,Shanghai,China
国际会议
上海
英文
840-843
2012-10-19（万方平台首次上网日期，不代表论文的发表时间）