Abstract
In this paper, a non-singular fuzzy time-varying global sliding mode controller is designed for a manipulator in the presence of model uncertainties and external disturbances, which enables the system to converge rapidly and reduce the torque. A time-varying sliding mode based on fuzzy control is proposed to adjust the sliding mode parameters adaptively, and a global sliding mode guarantees the whole-process robustness. The control law is obtained by designing the reaching law of the sliding mode variable, and stability is proven based on the Lyapunov stability theorem. Simulation demonstrates the superiority of the proposed method.
| Original language | English |
|---|---|
| Title of host publication | Proceedings - 2022 Chinese Automation Congress, CAC 2022 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 5165-5170 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781665465335 |
| DOIs | |
| State | Published - 2022 |
| Externally published | Yes |
| Event | 2022 Chinese Automation Congress, CAC 2022 - Xiamen, China Duration: 25 Nov 2022 → 27 Nov 2022 |
Publication series
| Name | Proceedings - 2022 Chinese Automation Congress, CAC 2022 |
|---|---|
| Volume | 2022-January |
Conference
| Conference | 2022 Chinese Automation Congress, CAC 2022 |
|---|---|
| Country/Territory | China |
| City | Xiamen |
| Period | 25/11/22 → 27/11/22 |
UN SDGs
This output contributes to the following UN Sustainable Development Goals (SDGs)
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SDG 7 Affordable and Clean Energy
Keywords
- fuzzy control
- global sliding mode
- non-singular sliding mode
- robotic manipulator
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