Global PID Adaptive Fuzzy Sliding Mode Control of Multi-link Robot

Authors :: Xu Chuanzhong
Yang Guanlu
Wang Yongchu
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.

Subjects :: Attitude control
Engineering
Adaptive control
Fuzzy rule
Control theory
business.industry
Robot
PID controller
Control engineering
Fuzzy control system
business
Sliding mode control
Fuzzy logic

Database :: OpenAIRE
Journal :: 2010 International Conference on Electrical and Control Engineering
Accession number :: edsair.doi...........7d4e12adc7c2a17367f51017f7fe52a9

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