Cart (Loading....) | Create Account
Close category search window
 

Fuzzy-sliding mode control for flexible-joint manipulator based on friction compensation

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

3 Author(s)
Ni Fenglei ; State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China ; Liu Yechao ; Dang Jin

For overcoming unknown external disturbance, the nonlinearity and uncertainty of the flexible joint manipulator, a novel robust controller is proposed based on fuzzy-sliding mode control and friction compensation. The fiction compensation based on model can effectively predict the friction amplitude and compensate the dynamic error. The external uncertain disturbance, nonlinear part of friction, parameters variation, modeling error and so on can be overcome by the fuzzy-sliding mode control. Experimental results on the platform of HIT four degrees of freedom flexible joint manipulator show that the proposed controller not only can realize good position tracking performance, independency to parameters fluctuation, but also have a strong anti-interference ability.

Published in:

Mechatronics and Automation (ICMA), 2012 International Conference on

Date of Conference:

5-8 Aug. 2012

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.