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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
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Abstract

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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