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

DOI10.1002/RNC.1805MaRDI QIDQ4902198zbMATH OpenOpenAlexFDO

Authors Ahmed F. Amer, Elsayed A. Sallam, Wael M. Elawady

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

adaptive control strategyapproximate line equationfuzzy controlfuzzy logic controlfuzzy self-tuning controllerinput-output relationLyapunov theoremrobot systemrobotssingle-input fuzzy rule basesliding mode control (SMC)speed trajectory tracking problemssupervisory fuzzy systemuncertainties

Mathematics Subject Classification ID

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

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Cites work

• Adaptive motion control of rigid robots: A tutorial
• Adaptive neural network tracking control for manipulators with uncertain kinematics, dynamics and actuator model
• Adaptive sliding mode control with uncertainty estimator for robot manipulators
• Chattering-free fuzzy sliding mode control in MIMO uncertain systems
• Control of rigid robot manipulators via combination of adaptive sliding mode control and compensated inverse dynamics approach
• Decentralized adaptive fuzzy sliding mode control for reconfigurable modular manipulators
• Fuzzy sets
• Optimal design and optimal control of structures undergoing finite rotations and elastic deformations
• Robust control of a spatial robot using fuzzy sliding modes
• Robust tracking control for nonlinear MIMO systems via fuzzy approaches
• Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators†
• Variable structure adaptive control of robot manipulators

Cited in

(9)

• Adaptive sliding mode control with uncertainty estimator for robot manipulators
• Fuzzy moving sliding mode control with application to robotic manipulators
• Adaptive fuzzy sliding mode and robust tracking control for manipulators with uncertain dynamics
• Global fuzzy sliding mode control for multi-joint robot manipulators based on backstepping
• Adaptive fuzzy sliding mode controller design for robot manipulators
• Trajectory tracking control based on memory data for robots with imprecise dynamic properties and interference
• Task space control of the robot manipulators with adaptive fuzzy global fast terminal sliding mode control in presence of dynamic and kinematic uncertainties
• Research on dual kernel fuzzy controller algorithm based on multilateral learning
• Indirect adaptive fuzzy prescribed performance control of feedback linearisable MIMO non-linear systems with unknown control direction

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