Robust Fuzzy Output Sliding Control without the Requirement of State Measurement

Authors:
Y. J. Huang;S. H. Chang;T. C. Kuo
Affiliations:
Department of Electrical Engineering, Yuan Ze University, Chungli, Taiwan;Department of Electrical Engineering, Yuan Ze University, Chungli, Taiwan;Department of Electrical Engineering, Ching Yun University, Chungli, Taiwan
Venue:
Journal of Intelligent and Robotic Systems
Year:
2008

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Abstract

A robust fuzzy output sliding control for nonlinear robotic arms is proposed in this paper. The proposed method not only retains the advantages of the conventional sliding mode control such as robustness against parameter variations and external disturbances, but also uses measurable output signals to define the sliding surface function. A fuzzy controller is developed to modify the control law to avoid state measurement. Control system stability is proved by using the Lyapunov stability theorem. The system robustness is guaranteed. Simulations results demonstrate the validity and effectiveness of the proposed method for uncertain nonlinear robotic arms.