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Global PID Adaptive Fuzzy Sliding Mode Control of Multi-link Robot
- Source :
- 2010 International Conference on Electrical and Control Engineering.
- Publication Year :
- 2010
- Publisher :
- IEEE, 2010.
-
Abstract
- A method of global PID adaptive fuzzy sliding-mode control for tracking control of multi-link robot manipulators is introduced. The method adjusts switching gain of sliding mode control by fuzzy control, uses fuzzy rules to adjust parameters on line and estimates supper boundary of the mode errors and disturb by integral automatically. So it reduces chattering and enhances precision. Simulation results verify the validity of the control scheme.
Details
- Database :
- OpenAIRE
- Journal :
- 2010 International Conference on Electrical and Control Engineering
- Accession number :
- edsair.doi...........7d4e12adc7c2a17367f51017f7fe52a9