کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
1138759 1489186 2009 14 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Robust control of a spatial robot using fuzzy sliding modes
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Robust control of a spatial robot using fuzzy sliding modes
چکیده انگلیسی

In order to improve the performance of the sliding mode controller, fuzzy logic sliding mode controller is proposed in this study. The control gain of the conventional sliding mode controller is tuned by a fuzzy logic rule base and, also dynamic sliding surfaces are obtained by changing their slopes using the error states of the system in another fuzzy logic algorithm. These controllers are then combined in order to enhance the performance. Afterwards, proposed controllers were used in trajectory control of a three degrees of freedom spatial robot, which is subjected to noise and parameter variations. Finally, the controllers introduced are compared with a PID controller which is commonly used for control of robotic manipulators in industry. The results indicate the superior performance of the proposed controller.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mathematical and Computer Modelling - Volume 49, Issues 1–2, January 2009, Pages 114–127
نویسندگان
, ,