대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

퍼지 슬라이딩 모드 제어를 이용한 Master-Slave System의 Bilateral Control

Bilateral Control of Master-Slave System using Fuzzy Sliding Mode Control

  • 서삼준 (안양대 전기전자공학과) ;
  • 서호준 (순천향대 정보기술공학부) ;
  • 김동식 (순천향대 정보기술공학부) ;
  • 박귀태 (고려대 전기전자전파공학부)
  • 발행 : 2001.07.18
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초록

The objective of this paper is to design a force feedback controller for bilateral control of a master-slave manipulator system using fuzzy sliding mode control. In a bilateral control system the motion of the master device is followed by slave the one. While the force applied to the slave is reflected on the master. In this paper, a proposed controller applied to the system. Adding a switching control term to the input, robustness is improved. Also the knowledge of the system dynamics is not needed. The computer simulation results show the performance of the proposed fuzzy sliding mode controller.

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