Force Feedback Control using Adaptive Fuzzy Sliding Mode Control

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  • 서삼준 (안양대 전기전제공학과) ;
  • 서호준 (순천향대 정보기술공학부) ;
  • 김동식 (순천향대 정보기술공학부)
  • Published : 2002.07.10

Abstract

The objective of this paper is to design a force feedback controller for bilateral control of a master-slave manipulator system using adaptive fuzzy sliding mode control. In a bilateral control system, the motion of the master device is followed by slave the one. While the force applied to the slave is reflected on the master. In this paper a proposed controller applied to the system. Adding a switching control term to the input robustness is improved. Also the knowledge of the system dynamics is not needed. The computer simulation results show the performance of the proposed adaptive fuzzy sliding mode controller.

Keywords