International Journal of Precision Engineering and Manufacturing

Korean Society for Precision Engineering (한국정밀공학회)
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Decentralized Adaptive fuzzy sliding mode control of Robot Manipulator

  • Kim, Young-Tae (Department of Electrical Engineering, Dongguk University) ;
  • Lee, Dong-Wook (Department of Electrical Engineering, Dongguk University)
  • Published : 2001.09.01
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Abstract

Robot manipulator has highly nonlinear dynamics. Therefore the control of multi-link robot arms is a challenging and difficult problem. In this paper a decentralized adaptive fuzzy sliding mode scheme is developed for control of robot manipulators. The proposed scheme does not require an accurate manipulator dynamic model, yet it guarantees asymptotic trajectory tracking despite gross robot parameter variations. Numerical simulation for decentralized control of a 3-axis PUMA arm will also be included.

Keywords