A revised adaptive fuzzy sliding mode controller for robotic manipulators Online publication date: Mon, 03-Nov-2008
by Xiaosong Lu, Howard M. Schwartz
International Journal of Modelling, Identification and Control (IJMIC), Vol. 4, No. 2, 2008
Abstract: In this paper, we revise an adaptive fuzzy sliding mode control algorithm applied to a robotic manipulator. Lyapunov stability of the overall system for the revised algorithm is proven. Simulation of a two degree of freedom manipulator is used to demonstrate the method. A discussion of the proof of Lyapunov stability for different algorithms is presented.
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