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
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;
Conference_Titel :
Electrical and Control Engineering (ICECE), 2010 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-6880-5
DOI :
10.1109/iCECE.2010.271
