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Content Provider | IEEE Xplore Digital Library |
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Author | Dawei Zhang Shenmin Song |
Copyright Year | 2008 |
Description | Author affiliation: Dept. of Control Sci. & Eng., Harbin Inst. of Technol., Harbin (Dawei Zhang; Shenmin Song) |
Abstract | In this paper, two kinds of controllers are proposed, which are adaptive fuzzy sliding mode control and advanced adaptive fuzzy sliding mode control. These approaches use an adaptive fuzzy system to approximate the system whose model has uncertainty. The sliding mode control part is used to guarantee the stability of the system and resistant the disturbance in the control channel. Further more, advanced controller uses a separate adaptive fuzzy system to take place of the gain and sign function for eliminating the chatting, which caused by sliding mode control. So the control can resolve the problems in robotic nonlinear system. |
Starting Page | 236 |
Ending Page | 240 |
File Size | 210262 |
Page Count | 5 |
File Format | |
ISBN | 9780769533056 |
DOI | 10.1109/FSKD.2008.269 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2008-10-18 |
Publisher Place | China |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Programmable control Fuzzy control Adaptive systems Uncertainty Stability Control systems Adaptive control Sliding mode control Robots Fuzzy systems |
Content Type | Text |
Resource Type | Article |
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