A decoupled fuzzy indirect adaptive sliding mode controller with application to robot manipulator

International Journal of Modelling, Identification and Control

Volumn 1, Issue 1, 2006, Pages 23-29

  Medhaffar, Hanène ^a   Derbel, Nabil ^a   Damak, Tarak ^a  

^a UNIVERSITY OF SFAX   (Tunisia)

Author keywords

Decoupled sliding mode control; Fuzzy Logic System (FLS); Indirect adaptive control; Robot manipulator

Indexed keywords

CONTROLLERS; DEGREES OF FREEDOM (MECHANICS); FLEXIBLE MANIPULATORS; FUNCTIONS; FUZZY LOGIC; INDUSTRIAL ROBOTS; MIMO SYSTEMS; MODULAR ROBOTS; ROBOT APPLICATIONS; ROBOTICS; SLIDING MODE CONTROL;

ADAPTIVE FUZZY SLIDING MODE CONTROLS (AFSMC); ADAPTIVE SLIDING MODE CONTROLLER; DECOUPLED CONTROLLER; DECOUPLED SLIDING MODE CONTROLS; FUZZY LOGIC SYSTEM; INDIRECT ADAPTIVE CONTROL; ROBOT MANIPULATOR; TWO DEGREES OF FREEDOM;

ADAPTIVE CONTROL SYSTEMS;

EID: 70350509414     PISSN: 17466172     EISSN: 17466180     Source Type: Journal    
DOI: 10.1504/IJMIC.2006.008644     Document Type: Article

References (23)

1. Chan, P.T., Rad, A.B. and Wang, J. (2001) 'Indirect adaptive fuzzy sliding mode control: Part II: parameter projection and supervisory control', Fuzzy Sets and Systems, Vol. 122, No. 1, pp.31-43. (Pubitemid 32534777)
2. Chen, J.Y. (2001) 'Rule regulation of fuzzy sliding mode controller design: direct adaptive approach', Fuzzy Sets and Systems, Vol. 120, pp.159-168.
3. Derbel, N. (1999) 'Beta fuzzy sliding mode control of a manipulator robot', European Control Conference, Karlsruhe, Germany.
4. Derbel, N. and Alimi, A.M. (2000) 'Fuzzy sliding mode control of a robot manipulator', Fifth Conference on Neural Networks and Soft Computing: NNSC, Zakopane, Poland.
5. Efe, M.O. and Kaynak, O. (2000) 'Sliding mode control of a three degrees of freedom anthropoid robot by driving the controller parameters to an equivalent regime', Transactions of the ASME: Journal of Dynamic Systems Measurement and Control, Vol. 122, No. 4, pp.632-640.
6. Hsu, Y.C., Chen, G. and Li, H. (2001) 'A fuzzy adaptive variable structure controller with applications to robot manipulators', IEEE Transactions Systems, Man and Cybernetics, Vol. 31, No. 3, pp.331-340. (Pubitemid 32676837)
7. Hwang, C. and Kuo, C. (2001) 'A stable fuzzy sliding-mode control for affine non-linear system with application to four-bar linkage system', IEEE Transactions Fuzzy Systems, Vol. 9, No. 2, pp.238-252. (Pubitemid 32505582)
8. Johansen, T.A. (1994) 'Fuzzy model based control: stability, robustness and performances issues', IEEE Transactions on Fuzzy Systems, Vol. 2, No. 3, pp.221-234.
9. Kaynak, O. (1996) 'Fuzzy adaptive sliding mode control of a direct drive robot', Robotics and Autonomous Systems, Vol. 19, pp.215-227. (Pubitemid 126414923)
10. Kwong, W.A. and Passino, K.M. (1996) 'Dynamically focused fuzzy learning control', IEEE Transactions on Systems, Man and Cybernetics, Vol. 26, pp.53-74. (Pubitemid 126780575)
11. Lee, H., Kim, E., Kang, H. and Park, M. (1998) 'Design of a sliding mode controller with fuzzy sliding surfaces', IEE Proceedings D - Control Theory and Application, Vol. 145, No. 5, pp.411-418. (Pubitemid 128728463)
12. Medhaffar, H., Damak, T. and Derbel, N. (2003a) 'A fuzzy adaptive sliding mode controller with application to robot manipulator', Conference on Signals, Systems, Decision and Information Technology: SSD, Tunisia.
13. Medhaffar, H., Damak, T. and Derbel, N. (2003b) 'Design and stability of an indirect adaptive fuzzy sliding mode controller of reduced complexity', International Fuzzy Systems Association World Congress: IFSA Turkey.
14. Passino, K.M. (1998) Fuzzy Control, Monlo Park, CA: Addison-Wesley.
15. Slotine, J.E. and Li, W. (1991) Applied Nonlinear Control, Englewood Cliffs, NJ: Prentice-Hall.
16. Slotine, J.J. and Sastry, S.S. (1983) 'Tracking control of nonlinear systems using sliding surfaces with applications to robot manipulators', International Journal of Control, Vol. 35, pp.1345-1350.
17. Tsai, C.H., Wang, T.S. and Lin, W.S. (2000) 'Robust fuzzy model-following control of robot manipulators', IEEE Transactions on Fuzzy systems, Vol. 8, No. 4, pp.462-469.
18. Utkin, V.I. (1977) 'Variable structure systems with sliding modes', IEEE Transactions on Automatic Control, Vol. 22, No. 2, pp.212-222.
19. Wang, L.X. (1994) Adaptive Fuzzy Systems and Control, Englewood Cliffs, NJ: Prentice-Hall.
20. Wang, J., Rad, A.B. and Chan, P.T. (2001) 'Indirect adaptive fuzzy sliding mode control: Part I: fuzzy switching', Fuzzy Sets and Systems, Vol. 122, No. 1, pp.21-30. (Pubitemid 32534776)
21. Wu, J.C. and Liu, T.S. (1996) 'A sliding-mode approach to fuzzy control design', IEEE Transactions on Control System Technology, Vol. 4, No. 2, pp.141-151. (Pubitemid 126782838)
22. Yoo, B. and Ham, W. (1998) 'Adaptive fuzzy sliding mode control of nonlinear systems', IEEE Transactions on Fuzzy Systems, Vol. 6, No. 2, pp.315-321. (Pubitemid 128750064)
23. Zadeh, L.A. (1973) 'Outline of a new approach to the analysis of complex systems and decision processes', IEEE Transactions on Systems, Man and Cybernetics, Vol. 3, No. 1, pp.28-44.