Control of robot manipulator using a fuzzy model-based sliding mode control scheme

2002 ◽  
Author(s):  
Jian-Shiang Chen ◽  
Chao-Shu Liu ◽  
Yu-Wein Wang
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Fuzzy Model ◽  
Model Based ◽  
Mode Control ◽  
Control Scheme

scholarly journals Dynamic Sliding Mode Control Based on Fractional Calculus Subject to Uncertain Delay Based Chaotic Pneumatic Robot

2020 ◽  
Vol 10 (3) ◽  
pp. 413-420 ◽  
Author(s):  
Sara Gholipour ◽  
Heydar Toosian Shandiz ◽  
Mobin Alizadeh ◽  
Sara Minagar ◽  
Javad Kazemitabar
Keyword(s):  
Fractional Calculus ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Lyapunov Stability Theory ◽  
Mode Control ◽  
Control Scheme ◽  
Dynamic Sliding Mode Control ◽  
Dynamic Sliding Mode

Background & Objective: This paper considers the chattering problem of sliding mode control in the presence of delay in robot manipulator causing chaos in such electromechanical systems. Fractional calculus was used in order to produce a novel sliding mode to eliminate chatter. To realize the control of a class of chaotic systems in master-slave configuration, a novel fractional dynamic sliding mode control scheme is presented and examined on the delay based chaotic robot. Also, the stability of the closed-loop system is guaranteed by Lyapunov stability theory. Methods: A control scheme is proposed for reducing the chattering problem in finite time tracking and robust in presence of system matched disturbances. Results: Moreover, delayed robot motions are sorted out for qualitative and quantitative study. Finally, numerical simulations illustrate feasibility of the proposed control method. Conclusion: The control scheme is viable.

Fuzzy model based integral action sliding mode control

2003 ◽  
Vol 7 (4) ◽  
pp. 244-251 ◽  
Author(s):  
M. J. Knight ◽  
R. Sutton ◽  
R. S. Burns
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Fuzzy Model ◽  
Model Based ◽  
Mode Control ◽  
Integral Action

Design of robust fuzzy-model-based controller with sliding mode control for SISO nonlinear systems

2002 ◽  
Vol 125 (1) ◽  
pp. 1-22 ◽  
Author(s):  
Wook Chang ◽  
Jin Bae Park ◽  
Young Hoon Joo ◽  
Guanrong Chen
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Fuzzy Model ◽  
Model Based ◽  
Mode Control
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