Title :
An adaptive fuzzy sliding-mode controller
Author :
Berstecher, Ralph G. ; Palm, Rainer ; Unbehauen, Heinz D.
Author_Institution :
Corp. Technol., Siemens AG, Munich, Germany
fDate :
2/1/2001 12:00:00 AM
Abstract :
This paper deals with a new adaptive fuzzy sliding-mode controller and its application to a robot manipulator arm. The theory for this approach and for the heuristics-based linguistic adaptation is presented, and a mathematical description is derived. Furthermore, an application of this adaptive controller for a two-link robot arm is shown. The obtained results show the high efficiency of the new controller type
Keywords :
adaptive control; computational linguistics; fuzzy control; manipulators; variable structure systems; adaptive fuzzy sliding-mode controller; heuristics-based linguistic adaptation; mathematical model; robot manipulator arm; two-link robot arm; Adaptive control; Convergence; Fuzzy control; Manipulators; Programmable control; Robots; Sliding mode control; Stability analysis; State-space methods; Uncertainty;
Journal_Title :
Industrial Electronics, IEEE Transactions on
