Fuzzy terminal sliding-mode controller for robotic manipulators

Yun Cheng Huang; Tzuu-Hseng S. Li

doi:10.1109/ICMECH.2005.1529374

Fuzzy terminal sliding-mode controller for robotic manipulators

Yun Cheng Huang, Tzuu-Hseng S. Li

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

8 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 language	English
Title of host publication	Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05
Pages	858-863
Number of pages	6
Volume	2005
DOIs	https://doi.org/10.1109/ICMECH.2005.1529374
Publication status	Published - 2005
Event	2005 IEEE International Conference on Mechatronics, ICM '05 - Taipei, Taiwan Duration: 2005 Jul 10 → 2005 Jul 12

Other

Other	2005 IEEE International Conference on Mechatronics, ICM '05
Country/Territory	Taiwan
City	Taipei
Period	05-07-10 → 05-07-12

All Science Journal Classification (ASJC) codes

General Engineering

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10.1109/ICMECH.2005.1529374

Cite this

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title = "Fuzzy terminal sliding-mode controller for robotic manipulators",

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).",

author = "Huang, {Yun Cheng} and Li, {Tzuu-Hseng S.}",

year = "2005",

doi = "10.1109/ICMECH.2005.1529374",

language = "English",

isbn = "0780389980",

volume = "2005",

pages = "858--863",

booktitle = "Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05",

note = "2005 IEEE International Conference on Mechatronics, ICM '05 ; Conference date: 10-07-2005 Through 12-07-2005",

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TY - GEN

T1 - Fuzzy terminal sliding-mode controller for robotic manipulators

AU - Huang, Yun Cheng

AU - Li, Tzuu-Hseng S.

PY - 2005

Y1 - 2005

N2 - 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).

AB - 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).

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U2 - 10.1109/ICMECH.2005.1529374

DO - 10.1109/ICMECH.2005.1529374

M3 - Conference contribution

AN - SCOPUS:33748906265

SN - 0780389980

SN - 9780780389984

VL - 2005

SP - 858

EP - 863

BT - Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05

T2 - 2005 IEEE International Conference on Mechatronics, ICM '05

Y2 - 10 July 2005 through 12 July 2005

ER -

Fuzzy terminal sliding-mode controller for robotic manipulators

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