Global PID Adaptive Fuzzy Sliding Mode Control of Multi-link Robot

A method of global PID adaptive fuzzy sliding-mode control for tracking control of multi-link robot manipulators is introduced. The method adjusts switching gain of sliding mode control by fuzzy control, uses fuzzy rules to adjust parameters on line and estimates supper boundary of the mode errors a...

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Bibliographische Detailangaben
Hauptverfasser:	Xu Chuanzhong, Yang Guanlu, Wang Yongchu
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Attitude control chattering Educational institutions fuzzy sliding mode Niobium Robots Satellites Sliding mode control switching function
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Beschreibung
Zusammenfassung:	A method of global PID adaptive fuzzy sliding-mode control for tracking control of multi-link robot manipulators is introduced. The method adjusts switching gain of sliding mode control by fuzzy control, uses fuzzy rules to adjust parameters on line and estimates supper boundary of the mode errors and disturb by integral automatically. So it reduces chattering and enhances precision. Simulation results verify the validity of the control scheme.
DOI:	10.1109/iCECE.2010.271