Robust fuzzy-based sliding mode tracking control for constrained robots with constraint uncertainties

Hui Min Yen, Tzuu Hseng S. Li, Yeong Chan Chang

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

7 Citations (Scopus)

Abstract

Robust fuzzy-based sliding mode tracking control designs are proposed for constrained robot systems with plant uncertainties and external disturbances. Structures of mechanical dynamics can be allowed to be completely unknown and the constraint surface to be perturbed by time-varying bounded uncertainties. Adaptive fuzzy systems are employed to approximate the behaviors of uncertain dynamics and the SMC algorithm is used to eliminate the effect of the time-varying perturbation. Simulation examples are presented to demonstrate the effectiveness and the tracking performance of the proposed control algorithm.

Original languageEnglish
Title of host publicationSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PublisherSociety of Instrument and Control Engineers (SICE)
Pages1320-1325
Number of pages6
ISBN (Print)9784907764395
Publication statusPublished - 2011 Jan 1
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: 2011 Sep 132011 Sep 18

Publication series

NameProceedings of the SICE Annual Conference

Other

Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
CountryJapan
CityTokyo
Period11-09-1311-09-18

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Yen, H. M., Li, T. H. S., & Chang, Y. C. (2011). Robust fuzzy-based sliding mode tracking control for constrained robots with constraint uncertainties. In SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts (pp. 1320-1325). [6060540] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).