NDLI: Fuzzy sliding mode control for a robot manipulator

Content Provider	Springer Nature Link
Author	Thinh Ngo, Ha Quang Shin, Jin Ho Kim, Won Ho
Copyright Year	2008
Abstract	This work presents the design of a robust control system using a sliding mode controller that incorporates a fuzzy control scheme. The presented control law superposes a sliding mode controller and a fuzzy logic controller. A fuzzy tuning scheme is employed to improve the performance of the control system. The proposed fuzzy sliding mode control (FSMC) scheme utilizes the complementary cooperation of the traditional sliding mode control (SMC) and the fuzzy logic control (FLC). In other words, the proposed control scheme has the advantages which it can guarantee the stability in the sense of Lyapunov function theory and can ameliorate the tracking errors, compared with the FLC and SMC, respectively. Simulation results for the trajectory tracking control of a two-link robot manipulator are presented to show the feasibility and robustness of the proposed control scheme.
Starting Page	124
Ending Page	128
Page Count	5
File Format	PDF
ISSN	14335298
Journal	Artificial Life and Robotics
Volume Number	13
Issue Number	1
e-ISSN	16147456
Language	English
Publisher	Springer Japan
Publisher Date	2008-12-14
Publisher Place	Japan
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Fuzzy sliding mode control Fuzzy logic control Stability Robot manipulator Tracking control Control , Robotics, Mechatronics Computation by Abstract Devices Artificial Intelligence (incl. Robotics)
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Biochemistry, Genetics and Molecular Biology

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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