Robust control by fuzzy sliding mode
Automatica (Journal of IFAC)
Design of fuzzy sliding-mode control systems
Fuzzy Sets and Systems
Fuzzy Control
Experimental Evaluation of Fuzzy Controllers for an Outdoor AGV
Proceedings of the International Conference, 7th Fuzzy Days on Computational Intelligence, Theory and Applications
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In this paper we present a systematic procedure for the synthesis of stable and robust fuzzy PD/PID controllers for robot manipulators from a variable structure systems standpoint. For linear systems and certain classes of non-linear systems variable structure systems theory has been used as a basis for synthesizing so-called fuzzy sliding mode controllers (FSMC)[1]. Variable structure systems theory has also been shown to be useful for understanding the effectiveness and stability of direct fuzzy PD controllers [2]. In this paper we will present a systematic method to exploit these two complementary roles of variable structure systems theory in order to guide the design and analysis of fuzzy PD/PID controllers for the class of non-linear systems characterized by robot dynamics.