Abstract
This paper presents a methodology combining sliding mode control and fuzzy tuning technique to enhance robustness and sliding performance in a class of non-linear control systems. The proposed control law consists of equivalent control, robust control, and fuzzy control. The equivalent control is designed such that the nominal system exhibits desirable dynamics. The robust control is then developed to guarantee the reaching condition in the presence of parameter and disturbance uncertainties. Fuzzy tuning schemes are employed to improve control performance and to alleviate chattering in the sliding mode. The method is applied to the control of a two-degree-of-freedom robotic manipulator. Simulation results verify the validity of the proposed approach.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
