Journal of Electrical Engineering and information Science

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

Application of Fuzzy Logic to Sliding Mode Control for Robot Manipulators

  • Park, Jae-Sam (Department of Electronics Engineering, Junior College of Inchon)
  • 발행 : 1997.12.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

In this paper, a new fuzzy sliding mode control algorithm is presented for trajectory control of robot manipulators. A fuzzy logic is applied to a sliding mode control algorithm to have the sliding mode gain adjusted continuously through fuzzy logic rules. With this scheme, te stability and the robustness of the proposed fuzzy logic control algorithm are proved and ensured by the sliding mode control law. The fuzzy logic controller requires only a few tuning parameters to adjust. Computer simulation results are given to show that the proposed algorithm can handle uncertain systems with large parameter uncertainties and external disturbances.

키워드

참고문헌

  1. KITE J. Electronics Eng. v.7 no.2 A study on Self-tuning of the Boundary Latyer for Variable Structure Controller B.J.Choi;S.W.Kwak;B.K.Kim
  2. Introduction to Robotics Mechanics and Control J.J.Craig
  3. IEEE Trans. Prod. Eng. v.2 no.2 Tracking control of a robot manipulator using sliding mode F.Harashima;J.Xu;H.Hashimoto
  4. Proc. of IECON '91, Sliding Mode Controller Design Based on Fuzzy Inference for Non-Linear Systems A.Ishigame;T.Furukawa;S.Kawamoto;T.Taniguchi
  5. IFSA '93, Seoul v.2 Fuzzy Logic Based Sliding Mode Control S.W.Kim;J.J.Lee
  6. Proc. IEEE v.121 no.12 Application of fuzzy algorithms for control of simple synamic plant E.H.Mamdani E.H.
  7. Intr. J. Man Machine Studies v.7 no.1 An experiment in linguistic synthesis with a fuzzy logic controller E.H.Mamdani;S.Assilian
  8. Int. J. Contrl. v.38 no.2 Tracking control of non-linear systems using sliding surface, with Applications to robot manipulators J.J.Slotine;S.S.Sastry
  9. Applied nonlinear control J.J.E.Slotine;W.Li
  10. IEEE Trans. Auto. Contr. v.22 Variable Sturctrue Systems with Sliding Modes V.I.Utkin
  11. Sliding Modes and their application in variable structure systems V.I.Utkin
  12. IEEE Trans. Syst. Man. Cybern v.8 no.2 Controller design for a manipulator using theory of variable structure systems K.D.Young