کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
10408170 | 893367 | 2005 | 27 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
An adaptive fuzzy controller for robot manipulators
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موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: An adaptive fuzzy controller for robot manipulators An adaptive fuzzy controller for robot manipulators](/preview/png/10408170.png)
چکیده انگلیسی
Due to computational burden and dynamic uncertainty, the model based decoupling control approach is hard to be implemented in a multivariable robotic system. Here, a model-free model reference adaptive fuzzy sliding mode controller (MRAFSC) is proposed to control a five degree-of-freedom (DOF) robot. MRAFSC drives the system state variables to hit a user-defined sliding surface and then slide along it to approach a reference model. Consequent parameters of the fuzzy control can be initialized at zero, and then adjusted by using a novel online parameters tuning algorithm derived from the Lyapunov stability theory. A boundary layer function is introduced into the updating law to eliminate the chattering phenomenon which is inherent to the sliding mode control. The state errors converge into a specified error bound which depends on the boundary layer, parameter errors and modeling errors. The experimental results show that this novel controller has good control performance, stability and robustness.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechatronics - Volume 15, Issue 2, March 2005, Pages 151-177
Journal: Mechatronics - Volume 15, Issue 2, March 2005, Pages 151-177
نویسندگان
Kuo-Ching Chiou, Shiuh-Jer Huang,