Fuzzy moving sliding mode control with application to robotic manipulators

被引：126

作者：

Ha, QP ^{[1
]}

Rye, DC ^{[1
]}

Durrant-Whyte, HF ^{[1
]}

机构：

[1] Univ Sydney, Dept Mech & Mechatron Engn J07, Sydney, NSW 2006, Australia

来源：

AUTOMATICA | 1999年 / 35卷 / 04期

基金：

澳大利亚研究理事会;

关键词：

fuzzy tuning; moving sliding mode; fast tracking; robustness;

D O I：

10.1016/S0005-1098(98)00169-1

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a fuzzy tuning approach to sliding mode control for tracking-performance enhancement in a class of nonlinear systems. The sliding surface can rotate or shift in the phase space in such a direction that the tracking behaviour can be improved. It is shown that with arbitrary initial conditions, the reaching time and tracking error in the approaching phase can be significantly reduced. Chattering can also be reduced by fuzzy tuning of the controller parameters. A two-degree-of-freedom robotic manipulator subject to external disturbances is simulated to demonstrate the validity of the proposed method. (C) 1999 Elsevier Science Ltd. All rights reserved.

引用

页码：607 / 616

页数：10

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