로봇 매니퓰레이터를 위한 퍼지 이동 슬라이딩 모드 제어

Fuzzy moving sliding mode control for robotic manipulators

In this paper, we present a fuzzy moving sliding mode control for two-degrree-of-freedom robotic manipulator. 17he sliding surface parameters are designed by fuzzy inference. The proposed sliding mode control makes the error always remain on the surface from beginning and therefore, the system is insensitive to system uncertaintics and external disturbances. Simulation results show the effectiveness of proposed scheme.