한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 1995년도 춘계학술대회 논문집
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- Pages.241-245
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- 1995
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- 2005-8446(pISSN)
퍼지-슬라이딩 모드를 이용한 스카라 로보트의 제어에 관한 연구
A Study on Development of SCARA robot Using Fuzzy-Sliding mode control
초록
This paper shows that the proposed fuzzy-sliding mode for SCARA robot control could reduce chattering problemed in sliding mode control and is robust against parameter uncertainties. It was very small quantities of chattering in the fuzzy-sliding mode control conpared with that in sliding mode control with two dead-band. In here, the sliding mode control with two dead-band is the method to reduce some chattering by changing into a continuous variable lower control input gain when a state value in pahase palne converged sithin two dead-band. But, the fuzzy-sliding mode control for more reducing chattering is the method to change control input by slicing mode into that by fuzzy rule within two dead-band. Simulations show that the effect of reducing chattering by the fuzzy-sliding mode is superior to sliding mode control with two dead-band.
키워드