An adaptive fuzzy sliding-mode controller

被引：49

作者：

Berstecher, RG

Palm, R

Unbehauen, HD

机构：

[1] Siemens AG, Corp Technol, D-81730 Munich, Germany

[2] Ruhr Univ Bochum, Fac Elect Engn, Control Engn Lab, D-44780 Bochum, Germany

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2001年 / 48卷 / 01期

关键词：

adaptive control; fuzzy control; robotics; sliding mode;

D O I：

10.1109/41.904541

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 deals with a new adaptive fuzzy sliding-mode controller and its application to a robot manipulator arm. The theory for this approach and for the heuristics-based linguistic adaptation is presented, and a mathematical description is derived. Furthermore, an application of this adaptive controller for a two-link robot arm is shown. The obtained results show the high efficiency of the new controller type.

引用

页码：18 / 31

页数：14

共 8 条

[1]

Astrom KJ, 1995, PROCEEDINGS OF THE 34TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, P649, DOI 10.1109/CDC.1995.478986

[2] EVERY GOOD REGULATOR OF A SYSTEM MUST BE A MODEL OF THAT SYSTEM [J].