An Adaptive Fuzzy Sliding-mode Controller with Application to Direct Drive Robot
نویسندگان
چکیده
In this work a motion control scheme, which belongs to the class of the control schemes known as a sliding mode control with disturbance estimation is proposed. Adaptive fuzzy disturbance estimator works as an identifier of variable part of a system dynamics. Adaptation algorithm is derived by using the Lyapunov stability theory and provides global asymptotic stability of the state errors. For the implementation on the robot, physically based fuzzy logic subsystems are proposed. With this estimators transparency is enhanced and complexity reduced. If linguistic knowledge is available, subsystems enable its systematic inclusion. The control scheme was successfully tested on a laboratory direct drive (DD) robot.
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