2008•Jisuanji fangzhenRequires access

Global Terminal Fuzzy Sliding Mode Control for Multi-link Robot Manipulators

Liguo Zhang

Abstract

A method of global fast terminal fuzzy sliding mode control for tracking control of multi-link robot manipulators was given.According to the sliding mode control principles,this method adjusts the switching gain of sliding mode control by fuzzy control,and can automatically track the maximum limit of model errors and disturb by integral method.So it reduces chattering of the controller.The system stability is proved by Lyapunov principle.Simulation results verify the validity of the control scheme.

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Available abstract

Key concepts: Control theory (sociology), Terminal sliding mode, Sliding mode control, Controller (irrigation), Fuzzy logic, Lyapunov function, Link (geometry), Lyapunov stability