Quasi sliding mode‐based single input fuzzy self‐tuning decoupled fuzzy PI control for robot manipulators with uncertainty
DOI10.1002/rnc.1805zbMath1255.93034MaRDI QIDQ4902198
Wael M. Elawady, Elsayed A. Sallam, Ahmed F. Amer
Publication date: 25 January 2013
Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1002/rnc.1805
fuzzy control; uncertainties; fuzzy logic control; robots; sliding mode control (SMC); Lyapunov theorem; robot system; input-output relation; adaptive control strategy; approximate line equation; fuzzy self-tuning controller; single-input fuzzy rule base; speed trajectory tracking problems; supervisory fuzzy system
93B35: Sensitivity (robustness)
93C42: Fuzzy control/observation systems
93C40: Adaptive control/observation systems
93C85: Automated systems (robots, etc.) in control theory
93B12: Variable structure systems
Cites Work
- Chattering-free fuzzy sliding mode control in MIMO uncertain systems
- Adaptive motion control of rigid robots: A tutorial
- Adaptive sliding mode control with uncertainty estimator for robot manipulators
- Adaptive neural network tracking control for manipulators with uncertain kinematics, dynamics and actuator model
- Robust control of a spatial robot using fuzzy sliding modes
- Decentralized adaptive fuzzy sliding mode control for reconfigurable modular manipulators
- Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators†
- Variable structure adaptive control of robot manipulators
- Control of rigid robot manipulators via combination of adaptive sliding mode control and compensated inverse dynamics approach
- Fuzzy sets
- Optimal design and optimal control of structures undergoing finite rotations and elastic deformations
- Robust tracking control for nonlinear MIMO systems via fuzzy approaches
