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 |
| 卷 | 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 7月 10 → 2005 7月 12 |
Other
| Other | 2005 IEEE International Conference on Mechatronics, ICM '05 |
|---|---|
| 國家/地區 | Taiwan |
| 城市 | Taipei |
| 期間 | 05-07-10 → 05-07-12 |
All Science Journal Classification (ASJC) codes
- 一般工程