A decoupled fuzzy indirect adaptive sliding mode controller with application to robot manipulator
by Hanene Medhaffar, Nabil Derbel, Tarak Damak
International Journal of Modelling, Identification and Control (IJMIC), Vol. 1, No. 1, 2006

Abstract: This paper presents a decoupled adaptive fuzzy Sliding Mode Control (SMC) for robotic manipulators. This controller is proposed for a class of Multiple-Input Multiple-Output (MIMO) systems with unknown non-linear dynamics. Indeed, an online fuzzy adaptation scheme is suggested to approximate unknown non-linear functions to design SMC. Moreover, the proposed controller is replaced by a local decoupled controller for each arm. The stability of the proposed control scheme is proved. As an illustration, the trajectory control of a two-degrees-of-freedom robotic manipulator is considered.

Online publication date: Fri, 13-Jan-2006

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