Robust nonlinear control of robot manipulators

James Tsing-Iuan Tsay, Jiann Hwa Huang

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

18 Citations (Scopus)

Abstract

A new nonlinear manipulator control scheme is proposed in this paper which is robust against modeling errors and unknown disturbances. It is based on the principle of sliding mode control (SMC) but with the application of fuzzy logic control (FLC). The control method provides a simple way to achieve asymptotic stability of the system. In addition, the method can not only overcome the chattering problem caused by sliding mode control, but also determine the rules and parameters for fuzzy logic control. Experiment results are presented to verify the theoretical derivations.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Editors Anon
PublisherPubl by IEEE
Pages2083-2088
Number of pages6
Editionpt 3
ISBN (Print)0818653329
Publication statusPublished - 1994 Dec 1
EventProceedings of the 1994 IEEE International Conference on Robotics and Automation. Part 3 (of 4) - San Diego, CA, USA
Duration: 1994 May 81994 May 13

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Numberpt 3
ISSN (Print)1050-4729

Other

OtherProceedings of the 1994 IEEE International Conference on Robotics and Automation. Part 3 (of 4)
CitySan Diego, CA, USA
Period94-05-0894-05-13

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Tsay, J. T-I., & Huang, J. H. (1994). Robust nonlinear control of robot manipulators. In Anon (Ed.), Proceedings - IEEE International Conference on Robotics and Automation (pt 3 ed., pp. 2083-2088). (Proceedings - IEEE International Conference on Robotics and Automation; No. pt 3). Publ by IEEE.