제어로봇시스템학회:학술대회논문집
- 1996.10b
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- Pages.684-688
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- 1996
Adaptive fuzzy sliding mode control for nonlinear systems
비선형 계통에 대한 적응 퍼지 슬라이딩 모드 제어
Abstract
In this paper, to overcome drawbacks of variable structure control system a self-tuning fuzzy sliding mode control algorithm using gradient descent method is proposed. The proposed method has the characteristics which are viewed in conventional VSC, e.g. insensitivity to a class of disturbance, parameter variations and uncertainties in the sliding mode. To demonstrate its performance, the proposed control algorithm is applied to a one-degree of freedom robot arm. The results show that both alleviation of chattering and performance are achieved.