NDLI: Fuzzy sliding-mode control based on state for robotic manipulators

Content Provider	IEEE Xplore Digital Library
Author	Wei-Dong Chen Hai-Tao Wang De-Zhi Tang Hong-Rui Wang
Copyright Year	2003
Description	Author affiliation: Dept. of Electron. Eng., Yanshan Univ., Qinhuangdao, China (Wei-Dong Chen; Hai-Tao Wang; De-Zhi Tang; Hong-Rui Wang)
Abstract	In this paper, a novel fuzzy sliding mode controller for robotic manipulator is proposed. The use of a boundary layer in sliding-mode control has been a common technique to reduce chattering of the control signal. However, different choices of the boundary layer width lead to conflicting effects: A large/small width of the boundary layer can more/less effectively alleviate the chattering of the control, but can lead to less/more accurate control results. This note applies fuzzy logic based on the state to adjusting the width of the boundary layer. This method can effectively eliminate chattering while at the same time ensure almost perfect control accuracy.
Sponsorship	IEEE Systems Man and Cybernetics Tech. Committee on Cybernetics, Hebei Univ. Northwestern Polytechnical Univ
Starting Page	957
Ending Page	960
File Size	215101
Page Count	4
File Format	PDF
ISBN	0780381319
DOI	10.1109/ICMLC.2003.1259618
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-11-05
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fuzzy control Sliding mode control Robots Manipulators Motion control Control systems Fuzzy logic Convergence Tracking Uncertain systems
Content Type	Text
Resource Type	Article

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