Robust nonlinear control of robot manipulators

James Tsing-Iuan Tsay, Jiann Hwa Huang

研究成果: Conference contribution

18 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題Proceedings - IEEE International Conference on Robotics and Automation
編輯 Anon
發行者Publ by IEEE
頁面2083-2088
頁數6
版本pt 3
ISBN(列印)0818653329
出版狀態Published - 1994 十二月 1
事件Proceedings of the 1994 IEEE International Conference on Robotics and Automation. Part 3 (of 4) - San Diego, CA, USA
持續時間: 1994 五月 81994 五月 13

出版系列

名字Proceedings - IEEE International Conference on Robotics and Automation
號碼pt 3
ISSN(列印)1050-4729

Other

OtherProceedings of the 1994 IEEE International Conference on Robotics and Automation. Part 3 (of 4)
城市San Diego, CA, USA
期間94-05-0894-05-13

All Science Journal Classification (ASJC) codes

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

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  • 引用此

    Tsay, J. T-I., & Huang, J. H. (1994). Robust nonlinear control of robot manipulators. 於 Anon (編輯), Proceedings - IEEE International Conference on Robotics and Automation (pt 3 編輯, 頁 2083-2088). (Proceedings - IEEE International Conference on Robotics and Automation; 編號 pt 3). Publ by IEEE.