Quasi sliding mode‐based single input fuzzy self‐tuning decoupled fuzzy PI control for robot manipulators with uncertainty

DOI10.1002/RNC.1805zbMath1255.93034OpenAlexW1722694184MaRDI 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

zbMATH Keywords

fuzzy controluncertaintiesfuzzy logic controlrobotssliding mode control (SMC)Lyapunov theoremrobot systeminput-output relationadaptive control strategyapproximate line equationfuzzy self-tuning controllersingle-input fuzzy rule basespeed trajectory tracking problemssupervisory fuzzy system

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Fuzzy control/observation systems (93C42) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12)

Related Items (1)

Trajectory tracking control based on memory data for robots with imprecise dynamic properties and interference

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
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• 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

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