Fuzzy terminal sliding-mode controller for robotic manipulators

Yun Cheng Huang, Tzuu-Hseng S. Li

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

In this paper, a new fuzzy terminal sliding-mode controller (FTSMC) is developed for robotic manipulators. A terminal sliding mode controller can drive the system tracking errors to converge to zero In finite time and the closed-loop system is infinitely stable. The FTSMC, Incorporating the fuzzy logic controller and the terminal sliding-mode controller, is designed to retain the advantages of the terminal sliding-mode controller and to reduce the chattering. The simulation results show that the FTSMC can provide much good tracking performance than that of the classical fuzzy sliding-mode controller (FSMC).

Original languageEnglish
Title of host publicationProceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05
Pages858-863
Number of pages6
Volume2005
DOIs
Publication statusPublished - 2005
Event2005 IEEE International Conference on Mechatronics, ICM '05 - Taipei, Taiwan
Duration: 2005 Jul 102005 Jul 12

Other

Other2005 IEEE International Conference on Mechatronics, ICM '05
CountryTaiwan
CityTaipei
Period05-07-1005-07-12

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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