Design of Fractional Order Fuzzy Controller Based on Sliding Mode Control for Robotic Flexible Joint Manipulators

Abstract:

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In this paper, a new design approach that combines the advantages in terms of robustness of the fractional control, the fuzzy scheme and the Sliding Mode Control (SMC) is proposed for robotic manipulators. A fractional order fuzzy sliding-mode controller (FOFSMC) can drive system tracking error to converge to zero in finite time. The FOFSMC is applied to a level control in robotic manipulators. Performance of the proposed controller evaluated to compare the performance with respect the conventional sliding mode controller. The simulation results demonstrate that the FOFSMC can provide a reasonable tracking performance.

Info:

Periodical:

Edited by:

Yongping Zhang, Linhua Zhou and Elwin Mao

Pages:

323-332

DOI:

10.4028/www.scientific.net/AMM.109.323

Citation:

A. Fayazi and A. H. Hadjahmadi, "Design of Fractional Order Fuzzy Controller Based on Sliding Mode Control for Robotic Flexible Joint Manipulators", Applied Mechanics and Materials, Vol. 109, pp. 323-332, 2012

Online since:

October 2011

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Price:

$35.00

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