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Fuzzy sliding mode control for the two-link robot

Fuzzy sliding mode control for the two-link robot This paper presents the fuzzy logic combined with the sliding mode (FSMC) to design a robust controller for the two-link robot system. The sliding mode control (SMC) can be used for a nonlinear system with small uncertainties. However, for complex nonlinear systems, the uncertainties are large and produce higher amplitude of chattering due to the higher switching gain. In this work, the nominal model of the robot is assumed known and the fuzzy logic is used to approximate only the unknown dynamic parts of the system, which are incorporated in the so called equivalent control. A small gain robust control term is added to remove the fuzzy approximation error. The simulation results show the effectiveness of the proposed method. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Systems, Control and Communications Inderscience Publishers

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Publisher
Inderscience Publishers
Copyright
Copyright © Inderscience Enterprises Ltd. All rights reserved
ISSN
1755-9340
eISSN
1755-9359
DOI
10.1504/IJSCC.2014.062808
Publisher site
See Article on Publisher Site

Abstract

This paper presents the fuzzy logic combined with the sliding mode (FSMC) to design a robust controller for the two-link robot system. The sliding mode control (SMC) can be used for a nonlinear system with small uncertainties. However, for complex nonlinear systems, the uncertainties are large and produce higher amplitude of chattering due to the higher switching gain. In this work, the nominal model of the robot is assumed known and the fuzzy logic is used to approximate only the unknown dynamic parts of the system, which are incorporated in the so called equivalent control. A small gain robust control term is added to remove the fuzzy approximation error. The simulation results show the effectiveness of the proposed method.

Journal

International Journal of Systems, Control and CommunicationsInderscience Publishers

Published: Jan 1, 2014

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