Welcome![Sign In][Sign Up]
Location:
Downloads Documents Software Engineering
Title: An-adaptive-fuzzy-sliding-mode-controller-for-rob Download
 Description: This paper proposes an adaptive fuzzy sliding mode controller for robotic manipulators. An adaptive single-input single-output (SISO) fuzzy system is applied to calculate each element of the control gain vector in a sliding mode controller. The adaptive law is designed based on the Lyapunov method. Mathematical proof for the stability and the convergence of the system is presented. Various operation situations such as the set point control and the trajectory control are simulated. The simulation results demonstrate that the chattering and the steady state errors, which usually occur in the classical sliding mode control, are eliminated and satisfactory trajectory tracking is achieved.
 Downloaders recently: [More information of uploader Diamant]
 To Search:
File list (Check if you may need any files):
 

An adaptive fuzzy sliding mode controller for robotic manipulators.pdf
    

CodeBus www.codebus.net