Fuzzy Adaptive Sliding Mode Control Based on Fuzzy Compensation for Ammunition Auto-Loading Robot

Yu Feng Li; Kui Wu Li; Yu Tian Pan; Bao Quan Guo

doi:10.4028/www.scientific.net/AMR.816-817.363

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 816-817Fuzzy Adaptive Sliding Mode Control Based on Fuzzy...

Fuzzy Adaptive Sliding Mode Control Based on Fuzzy Compensation for Ammunition Auto-Loading Robot

Abstract:

A new fuzzy adaptive sliding mode controller based on fuzzy compensation for robot is proposed. The control architecture employs fuzzy systems to compensate adaptively for plant uncertainties to distinguish different disturbance compensation terms and approximate each of them respectively. By analyzing and comparing the simulation results, it is obviously shown that the control system can lighten the effect on the control system caused by different disturbance factors and eliminate the system chattering than that of traditional SMC.

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Periodical:

Advanced Materials Research (Volumes 816-817)

Pages:

363-366

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.816-817.363

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Online since:

September 2013

Authors:

Yu Feng Li, Kui Wu Li, Yu Tian Pan, Bao Quan Guo

Keywords:

Fuzzy Compensation, Nonlinear System, Robot, Sliding Mode Control

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References

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