{"title":"非线性不确定串联气动-人工肌肉(PAM)机器人系统的自适应模糊滑模控制实现","authors":"Cao Van Kien, T. T. Huan, Do Thanh Thai, H. Anh","doi":"10.1109/ICSSE.2017.8030842","DOIUrl":null,"url":null,"abstract":"This paper proposes a new advanced adaptive fuzzy sliding mode control (AAFSMC) approach and their suitability for use in the control of a highly nonlinear 2-dof serial PAM robot. Stability proof of the stable convergence of the overall closed-loop serial PAM robot system under novel AAFSMC control is demonstrated based on Lyapunov stability principle. Simulation results prove that the proposed AAFSMC control algorithm, applied to a two degree of freedom nonlinear serial PAM robot, are successfully designed and implemented with better performance and robustness in comparison with previous SMC and fuzzy SMC approaches.","PeriodicalId":296191,"journal":{"name":"2017 International Conference on System Science and Engineering (ICSSE)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Implementation of adaptive fuzzy sliding mode control for nonlinear uncertain serial pneumatic-artificial-muscle (PAM) robot system\",\"authors\":\"Cao Van Kien, T. T. Huan, Do Thanh Thai, H. Anh\",\"doi\":\"10.1109/ICSSE.2017.8030842\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper proposes a new advanced adaptive fuzzy sliding mode control (AAFSMC) approach and their suitability for use in the control of a highly nonlinear 2-dof serial PAM robot. Stability proof of the stable convergence of the overall closed-loop serial PAM robot system under novel AAFSMC control is demonstrated based on Lyapunov stability principle. Simulation results prove that the proposed AAFSMC control algorithm, applied to a two degree of freedom nonlinear serial PAM robot, are successfully designed and implemented with better performance and robustness in comparison with previous SMC and fuzzy SMC approaches.\",\"PeriodicalId\":296191,\"journal\":{\"name\":\"2017 International Conference on System Science and Engineering (ICSSE)\",\"volume\":\"6 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2017-07-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2017 International Conference on System Science and Engineering (ICSSE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICSSE.2017.8030842\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 International Conference on System Science and Engineering (ICSSE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICSSE.2017.8030842","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Implementation of adaptive fuzzy sliding mode control for nonlinear uncertain serial pneumatic-artificial-muscle (PAM) robot system
This paper proposes a new advanced adaptive fuzzy sliding mode control (AAFSMC) approach and their suitability for use in the control of a highly nonlinear 2-dof serial PAM robot. Stability proof of the stable convergence of the overall closed-loop serial PAM robot system under novel AAFSMC control is demonstrated based on Lyapunov stability principle. Simulation results prove that the proposed AAFSMC control algorithm, applied to a two degree of freedom nonlinear serial PAM robot, are successfully designed and implemented with better performance and robustness in comparison with previous SMC and fuzzy SMC approaches.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
