| 한글제목(Korean Title) |
Application of Fuzzy Logic to Sliding Mode Control for Robot Manipulators |
| 영문제목(English Title) |
Application of Fuzzy Logic to Sliding Mode Control for Robot Manipulators |
| 저자(Author) |
Jae-Sam Park
|
| 원문수록처(Citation) |
VOL 02 NO. 06 PP. 0014 ~ 0019 (1997. 12) |
한글내용
(Korean Abstract) |
|
영문내용
(English Abstract) |
In this paper, a new fuzzy sliding mode control algorithm is presented for trajectory contol of robot manipulators. A fuzzy logic is applied to a sliding mode control algorithm to have the sliding mode gain adjusted continuously through fuzzy logic rules. With this scheme, the stability and the robustness of the proposed fuzzy logic control algorithm are proved and ensured by the sliding mode control law. The fuzzy logic controller requireds only a few tuning parameters to adjust. Computer simulation results are given to show that the proposed algorithm can handle unceratin systems with large parameter uncertainties and external disturbances. |
| 키워드(Keyword) |
Artificial Intelligence and Natural Language Proce
Fuzzy Logic
Sliding Mode Control
Robot Manipulators
|
| 파일첨부 |
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