Fuzzy nonsingular terminal sliding mode control for multi-link robots - 文章详情页

作者：

Mu, Xiao-Jiang (Mu, Xiao-Jiang.) | Chen, Yang-Zhou (Chen, Yang-Zhou.) (学者：陈阳舟) | Zhang, Li-Guo (Zhang, Li-Guo.) (学者：张利国)

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摘要：

This　paper　introduces　a　method　of　fuzzy　nonsingular　terminal　sliding　mode　(FNTSM)　control　for　tracking　control　of　multi-link　robot　manipulators.　This　method　avoids　some　disadvantages　of　nonsingular　terminal　sliding　mode　(NTSM)　control　by　fuzzy　control　that　adjusts　the　switching　gain　of　sliding　mode　control,　achieves　automatic　tracking　the　maximum　limit　of　model　errors　and　disturbances　by　integral,　and　reduces　chattering.　The　system　stability　is　proved　by　Lyapunov　principle.　Simulation　results　verify　the　validity　of　the　control　scheme.

关键词：

Fuzzy control Robot applications Robots System stability Manipulators Sliding mode control

作者机构：

[ 1 ] [Mu, Xiao-Jiang]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100022, China
[ 2 ] [Chen, Yang-Zhou]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100022, China
[ 3 ] [Zhang, Li-Guo]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100022, China

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