대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2007년도 제38회 하계학술대회
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- Pages.1718-1719
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- 2007
슬라이딩 모드를 이용한 로봇 매니풀레이터의 간접적응 자기조정 퍼지제어
Indirect Adaptive Self-Regulating Fuzzy Control of Robot Manipulators Using Sliding Mode
- Park, Won-Sung (Hanyang University) ;
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Yang, Hai-Won
(Hanyang University) ;
- Chung, Ki-Chull (Daeduk College) ;
- Kim, Do-Woo (Daeduk College)
- 발행 : 2007.07.18
초록
In this paper, a fuzzy sliding mode control that combines with a adaptive self-regulating technique is proposed for manipulators with uncertainties. Especially the system uncertainties is approximated using fuzzy rule adaptation technique. The proposed controller is composed of the equivalent control that includes the approximation of the system uncertainties and the hitting control that is used to constrain the states of the system to maintain on the sliding surfaces and used to guarantee the system robustness. Simulation results are presented to show the effectiveness of the proposed controller
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