Hostname: page-component-76fb5796d-9pm4c Total loading time: 0 Render date: 2024-04-27T10:15:41.474Z Has data issue: false hasContentIssue false
  • English
  • Français

Adaptive fuzzy sliding control for a three-link passive robotic manipulator

Published online by Cambridge University Press:  23 August 2005

Subashini Elangovan  and
Peng-Yung Woo
Subashini Elangovan
Affiliation:
Electrical Engineering Department, Northern Illinois University, Dekalb, IL 60115 (USA)
Peng-Yung Woo
Affiliation:
Electrical Engineering Department, Northern Illinois University, Dekalb, IL 60115 (USA) Corresponding author: Fax 1,815,753–1289
Get access Rights & Permissions [Opens in a new window]

Abstract

An adaptive fuzzy sliding control scheme is proposed to control a passive robotic manipulator. The motivation for the design of the adaptive fuzzy sliding controller is to eliminate the chattering and the requirement of pre-knowledge on bounds of error associated with the conventional sliding control. The stability and convergence of the adaptive fuzzy sliding controller is proven both theoretically and practically by simulations. A three-link passive manipulator model with two unactuated joints is derived to be used in the simulations. Simulation results demonstrate that the proposed system is robust against structured and unstructured uncertainties.

Keywords

Fuzzy controlPassive manipulatorSliding controller
Type
Research Article
Information
Robotica , Volume 23 , Issue 5 , September 2005 , pp. 635 - 644
Copyright
© 2005 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)