In order to improve the controller robustness of the parallel SCARA robot, this chapter presents fuzzy based sliding mode control. The first step is the design of first-order sliding mode control, in which both of the simulation and experimental results turns out that the controller can effectively suppress the problem of joint buffetings, handling the un-modeled errors in the dynamic model of the robotic system. Aiming to reduce the influence of dynamic uncertainties and discontinuity of the switching function onto control stability and to enhance the suppression of the joint buffetings, two-order (i.e., super-twist) sliding mode control is adopted and integrated with fuzzy algorithm, of which the performance improvement of dynamic control can be realized.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Fuzzy Sliding Mode Control


    Beteiligte:
    Wu, Guanglei (Autor:in)

    Erschienen in:

    Parallel PnP Robots ; Kapitel : 6 ; 89-112


    Erscheinungsdatum :

    25.03.2025


    Format / Umfang :

    24 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Fuzzy Sliding-mode Control for Hyperchaotic Systems

    Liu, J.-c. / Tan, W. / Shen, H.-y. | British Library Online Contents | 2006


    A Fuzzy Sliding Mode Control Design for Quadcopter

    Samantaray, Jagannath / Chakrabarty, Sohom | Springer Verlag | 2020


    A Fuzzy Sliding Mode Control Design for Quadcopter

    Samantaray, Jagannath / Chakrabarty, Sohom | TIBKAT | 2020


    Adaptive Robust Control: Adaptive Fuzzy Sliding Mode Control Technique

    Martins, Nardênio Almeida / Bertol, Douglas Wildgrube | Springer Verlag | 2021


    Fuzzy global sliding mode control for flexible manipulators

    Ming-ming Li, / Bo Fang, / Wen-hu Huang, | IEEE | 2010