DocumentCode
3014920
Title
Global PID Adaptive Fuzzy Sliding Mode Control of Multi-link Robot
Author
Chuanzhong, Xu ; Yang Guanlu ; Yongchu, Wang
Author_Institution
Coll. of Electircal Inf. Eng., Univ. of Huaqiao, Quanzhou, China
fYear
2010
fDate
25-27 June 2010
Firstpage
1070
Lastpage
1073
Abstract
A method of global PID adaptive fuzzy sliding-mode control for tracking control of multi-link robot manipulators is introduced. The method adjusts switching gain of sliding mode control by fuzzy control, uses fuzzy rules to adjust parameters on line and estimates supper boundary of the mode errors and disturb by integral automatically. So it reduces chattering and enhances precision. Simulation results verify the validity of the control scheme.
Keywords
adaptive control; fuzzy control; manipulators; three-term control; time-varying systems; variable structure systems; PID adaptive fuzzy sliding mode control; chattering reduction; fuzzy control; fuzzy rule; mode error; multilink robot manipulator; supper boundary estimation; tracking control; Attitude control; Educational institutions; Niobium; Robots; Satellites; Sliding mode control; chattering; fuzzy sliding mode; switching function;
fLanguage
English
Publisher
ieee
Conference_Titel
Electrical and Control Engineering (ICECE), 2010 International Conference on
Conference_Location
Wuhan
Print_ISBN
978-1-4244-6880-5
Type
conf
DOI
10.1109/iCECE.2010.271
Filename
5631656
Link To Document