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

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

研究成果: Conference contribution

7 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
發行者Society of Instrument and Control Engineers (SICE)
頁面1320-1325
頁數6
ISBN(列印)9784907764395
出版狀態Published - 2011 一月 1
事件50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
持續時間: 2011 九月 132011 九月 18

出版系列

名字Proceedings of the SICE Annual Conference

Other

Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
國家Japan
城市Tokyo
期間11-09-1311-09-18

All Science Journal Classification (ASJC) codes

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

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  • 引用此

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