{"title":"三连杆被动机械臂的自适应模糊滑动控制","authors":"S. Elangovan, P. Woo","doi":"10.1017/S0263574704001079","DOIUrl":null,"url":null,"abstract":"An adaptive fuzzy sliding control (AFSC) scheme is proposed to control a passive robotic manipulator. The motivation for the design of the adaptive fuzzy sliding controller is to eliminate the chattering and the requirement of pre-knowledge on the bounds of the errors associated with the conventional sliding control. The stability and convergence of the adaptive fuzzy sliding controller are proven both theoretically and practically by simulations. A three-link passive manipulator model with two unactuated joints is derived to be used in the simulations. Simulation results demonstrate that the proposed system is robust against structured and unstructured uncertainties.","PeriodicalId":153850,"journal":{"name":"Proceedings of the 2004 American Control Conference","volume":"66 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2005-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"20","resultStr":"{\"title\":\"Adaptive fuzzy sliding control for a three-link passive robotic manipulator\",\"authors\":\"S. Elangovan, P. Woo\",\"doi\":\"10.1017/S0263574704001079\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"An adaptive fuzzy sliding control (AFSC) scheme is proposed to control a passive robotic manipulator. The motivation for the design of the adaptive fuzzy sliding controller is to eliminate the chattering and the requirement of pre-knowledge on the bounds of the errors associated with the conventional sliding control. The stability and convergence of the adaptive fuzzy sliding controller are proven both theoretically and practically by simulations. A three-link passive manipulator model with two unactuated joints is derived to be used in the simulations. Simulation results demonstrate that the proposed system is robust against structured and unstructured uncertainties.\",\"PeriodicalId\":153850,\"journal\":{\"name\":\"Proceedings of the 2004 American Control Conference\",\"volume\":\"66 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2005-08-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"20\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 2004 American Control Conference\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1017/S0263574704001079\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2004 American Control Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1017/S0263574704001079","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Adaptive fuzzy sliding control for a three-link passive robotic manipulator
An adaptive fuzzy sliding control (AFSC) scheme is proposed to control a passive robotic manipulator. The motivation for the design of the adaptive fuzzy sliding controller is to eliminate the chattering and the requirement of pre-knowledge on the bounds of the errors associated with the conventional sliding control. The stability and convergence of the adaptive fuzzy sliding controller are proven both theoretically and practically by simulations. A three-link passive manipulator model with two unactuated joints is derived to be used in the simulations. Simulation results demonstrate that the proposed system is robust against structured and unstructured uncertainties.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
