Adaptive Fuzzy SMC Control for Nonlinear System of Dual Arm Robot

Shao Hua Luo; Zhi Ling Wen; Zhao Qin Liu

doi:10.4028/www.scientific.net/AMM.224.480

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 224Adaptive Fuzzy SMC Control for Nonlinear System of...

Adaptive Fuzzy SMC Control for Nonlinear System of Dual Arm Robot

Abstract:

In this paper, a stable adaptive fuzzy sliding mode controller is developed for a class of MIMO nonlinear systems. Fuzzy logic system is designed to estimate the unknown function. Parameter adaptive laws and robustifying control terms are derived based on Lyapunov theory, and boudedness of signals in the closed-loop system can be guaranteed. The proposed controllers were used in trajectory control of right arm of dual arm robot. The results indicate that the proposed controller has satisfying tracking performance with robust characteristics.

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Periodical:

Applied Mechanics and Materials (Volume 224)

Pages:

480-484

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.224.480

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Online since:

November 2012

Authors:

Shao Hua Luo, Zhi Ling Wen, Zhao Qin Liu

Keywords:

Adaptive Sliding Mode Control, Dual Arm Robot, Fuzzy Logic, MIMO Systems

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References

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