An adaptive fuzzy sliding-mode controller
Berstecher, R.G.
Palm, R.
Unbehauen, H.D.
Corp. Technol., Siemens AG, Munich;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Feb 2001
Volume: 48,
Issue: 1
On page(s): 18-31
ISSN: 0278-0046
References Cited: 11
CODEN: ITIED6
INSPEC Accession Number: 6860876
Digital Object Identifier: 10.1109/41.904541
Current Version Published: 2002-08-07
Abstract
This paper deals with a new adaptive fuzzy sliding-mode controller
and its application to a robot manipulator arm. The theory for this
approach and for the heuristics-based linguistic adaptation is
presented, and a mathematical description is derived. Furthermore, an
application of this adaptive controller for a two-link robot arm is
shown. The obtained results show the high efficiency of the new
controller type
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