By Topic

Fuzzy sliding motion controller for six-degree-of-freedom robotic manipulator

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Deabes, W.A. ; Electr. Eng. Dept., Tennessee Technol. Univ., Cookeville, TN ; Areed, F.

Sliding mode control and fuzzy tuning techniques are combined to generate a robust and an accurate fuzzy sliding controller for non-linear systems. The control law consisting of equivalent control, robust control, and fuzzy control is designed such that the equivalent control satisfies desirable dynamics. Reaching the sliding surface is guaranteed by the robust control term even in the presence of parameter and disturbance uncertainties. Fuzzy tuning schemes are employed to reduce the chattering problem around the sliding surface. The method is applied to the control of a six-degree-of-freedom robotic manipulator. Simulation results verify the validity of the proposed approach.

Published in:

System Theory, 2009. SSST 2009. 41st Southeastern Symposium on

Date of Conference:

15-17 March 2009