Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Fuzzy Adaptive Sliding Mode Controller for Tracking Control of Robotic Manipulators

로봇 매니퓰레이터의 추적 제어를 위한 퍼지 적응 슬라이딩 모드 제어기

  • 이진용 (울산대학교 전기공학부대학원) ;
  • 강희준 (울산대학교 전기공학부)
  • Received : 2012.04.20
  • Accepted : 2012.05.17
  • Published : 2012.06.01
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Abstract

This paper describes the design of a fuzzy adaptive sliding mode controller for tracking control of robotic manipulators. The proposed controller incorporates a modified traditional sliding mode controller to drive the system state to a sliding surface and then keep the system state on this surface, and a fuzzy logic controller to accelerate the reaching phase. The stability of the control system is ensured by using Lyapunov theory. To verify the effectiveness of the proposed controller, computer simulation is conducted for a five-bar planar robotic manipulator. The simulation results show that the proposed controller can improve the reaching time and eliminate chattering of the control system at the same time.

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References

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