• DocumentCode
    1443221
  • Title

    An adaptive fuzzy sliding-mode controller

  • Author

    Berstecher, Ralph G. ; Palm, Rainer ; Unbehauen, Heinz D.

  • Author_Institution
    Corp. Technol., Siemens AG, Munich, Germany
  • Volume
    48
  • Issue
    1
  • fYear
    2001
  • fDate
    2/1/2001 12:00:00 AM
  • Firstpage
    18
  • Lastpage
    31
  • 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;
  • fLanguage
    English
  • Journal_Title
    Industrial Electronics, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    0278-0046
  • Type

    jour

  • DOI
    10.1109/41.904541
  • Filename
    904541
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1443221