Fuzzy terminal sliding-mode controller for robotic manipulators

Yun Cheng Huang, Tzuu-Hseng S. Li

研究成果: Conference contribution

6 引文 斯高帕斯(Scopus)

摘要

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).

原文English
主出版物標題Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05
頁面858-863
頁數6
2005
DOIs
出版狀態Published - 2005
事件2005 IEEE International Conference on Mechatronics, ICM '05 - Taipei, Taiwan
持續時間: 2005 七月 102005 七月 12

Other

Other2005 IEEE International Conference on Mechatronics, ICM '05
國家/地區Taiwan
城市Taipei
期間05-07-1005-07-12

All Science Journal Classification (ASJC) codes

  • 工程 (全部)

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