A decoupled fuzzy indirect adaptive sliding mode controller with application to robot manipulator Online publication date: Fri, 13-Jan-2006
by Hanene Medhaffar, Nabil Derbel, Tarak Damak
International Journal of Modelling, Identification and Control (IJMIC), Vol. 1, No. 1, 2006
Abstract: This paper presents a decoupled adaptive fuzzy Sliding Mode Control (SMC) for robotic manipulators. This controller is proposed for a class of Multiple-Input Multiple-Output (MIMO) systems with unknown non-linear dynamics. Indeed, an online fuzzy adaptation scheme is suggested to approximate unknown non-linear functions to design SMC. Moreover, the proposed controller is replaced by a local decoupled controller for each arm. The stability of the proposed control scheme is proved. As an illustration, the trajectory control of a two-degrees-of-freedom robotic manipulator is considered.
Online publication date: Fri, 13-Jan-2006
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