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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- Korean Institute of Information Scientists and Engineers Journal of Electrical Engineering and Information Science Journal of Electrical Engineering and Information Science Vol.2 No.6
- 발행연도
- 1997.10
- 수록면
- 14 - 19 (6page)
이용수
초록· 키워드
오류제보하기
In this paper, a new fuzzy sliding mode control algorithm is presented for trajectory control of robot manipulators. A fuzzy logic is applied to a sliding mode control algorithm to have the sliding mode gain adjusted continuously through fuzzy logic rules. With this scheme, the stability and the robustness of the proposed fuzzy logic control algorithm are proved and ensured by the sliding mode control law. The fuzzy logic controller requires only a few tuning parameters to adjust. Computer simulation results are given to show that the proposed algorithm can handle uncertain systems with large parameter uncertainties and external disturbances.
목차
Abstract
Ⅰ. Introduction
Ⅱ. Problem Formulation
Ⅲ. Configurations of Fuzzy Sliding Mode Controllers
Ⅳ. An Application Example
Ⅴ. Conclusions
References
저자소개
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