Fuzzy Sliding Mode Controller with CMAC Application Rigid Robot Manipulators
نویسندگان
چکیده
In this paper to address a signed distance fuzzy sliding-mode control (SDFSMC) architecture which integrates cerebellar model articulation controller (CMAC). The proposed control consists of the SDFSMC and a feedforward compensation with modify CMAC network which to control the dynamics of the nonlinear systems with unknown structured nonlinearities without requiring a priori knowledge of the system parameter values. The effectiveness of the proposed control scheme is verified with an application the rigid robot manipulators. Key-Words: fuzzy control, sliding mode, CMAC
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