{"title":"基于Takagi & Sugeno模型设计的模糊滑模控制及其在仿真机械手中的应用","authors":"G. Chacon, J. Ruiz-del-Solar, D. Śaez","doi":"10.1109/LARS.2006.334324","DOIUrl":null,"url":null,"abstract":"Sliding mode control design with fuzzy parameter adaptation for a simulated robot hand is presented. The fuzzy adaptation uses the Takagi & Sugeno model in order to determinate the parameter values which assure system stability. Using this control strategy, the simulated robot hand will be moved without oscillations, in a similar way as human hand. The proposed control method is stable, good behavior to external disturbances, and does not request to know the system parameters (robot hand parameters) exactly. Also, the paper describes the dynamic of the realistic simulator of the simulated robot hand (5 fingers, 15 degrees of freedom)","PeriodicalId":129005,"journal":{"name":"2006 IEEE 3rd Latin American Robotics Symposium","volume":"08 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Fuzzy Sliding Mode Control based on Takagi & Sugeno Model Design and its application to a Simulated Robot Hand\",\"authors\":\"G. Chacon, J. Ruiz-del-Solar, D. Śaez\",\"doi\":\"10.1109/LARS.2006.334324\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Sliding mode control design with fuzzy parameter adaptation for a simulated robot hand is presented. The fuzzy adaptation uses the Takagi & Sugeno model in order to determinate the parameter values which assure system stability. Using this control strategy, the simulated robot hand will be moved without oscillations, in a similar way as human hand. The proposed control method is stable, good behavior to external disturbances, and does not request to know the system parameters (robot hand parameters) exactly. Also, the paper describes the dynamic of the realistic simulator of the simulated robot hand (5 fingers, 15 degrees of freedom)\",\"PeriodicalId\":129005,\"journal\":{\"name\":\"2006 IEEE 3rd Latin American Robotics Symposium\",\"volume\":\"08 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2006-10-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2006 IEEE 3rd Latin American Robotics Symposium\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/LARS.2006.334324\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2006 IEEE 3rd Latin American Robotics Symposium","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/LARS.2006.334324","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Fuzzy Sliding Mode Control based on Takagi & Sugeno Model Design and its application to a Simulated Robot Hand
Sliding mode control design with fuzzy parameter adaptation for a simulated robot hand is presented. The fuzzy adaptation uses the Takagi & Sugeno model in order to determinate the parameter values which assure system stability. Using this control strategy, the simulated robot hand will be moved without oscillations, in a similar way as human hand. The proposed control method is stable, good behavior to external disturbances, and does not request to know the system parameters (robot hand parameters) exactly. Also, the paper describes the dynamic of the realistic simulator of the simulated robot hand (5 fingers, 15 degrees of freedom)
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
