Abstract
A sliding mode control algorithm combined with a fuzzy control scheme is developed for the trajectory control of a robot manipulator. The scheme is used to compensate for the influence of unmodeled dynamics and to reduce chattering. Simulation results show that the proposed controller gives good system performance in the face of uncertain system parameters and external disturbances.
| Original language | British English |
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| Pages | 320-325 |
| Number of pages | 6 |
| State | Published - 1997 |
| Event | Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA - Monterey, CA, USA Duration: 10 Jul 1997 → 11 Jul 1997 |
Conference
| Conference | Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA |
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| City | Monterey, CA, USA |
| Period | 10/07/97 → 11/07/97 |