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Improved sliding mode robot control: a fuzzy approach
Örebro University, Department of Technology.
Örebro University, Department of Technology.
2002 (English)In: Proceedings of the third international workshop on robot motion and control, 2002. RoMoCo '02, 2002, p. 393-398Conference paper, Published paper (Refereed)
Abstract [en]

An approach to the design of high performance sliding mode controllers for robot manipulators is presented. It employs a Takagi-Sugeno fuzzy system to describe the sliding surface. Each rule of this system represents the maximum slope sliding line for a certain set of parameters given in the premise part. Hence, the slope of the surface is adapted according to the current state of the manipulator. This new algorithm provides nearly time-optimal performance and still retains the robustness, typical for systems in sliding mode. The maximum slope sliding surfaces are designed using knowledge about robot's physical properties.

Place, publisher, year, edition, pages
2002. p. 393-398
Keywords [en]
control system design, fuzzy systems, manipulators, sliding mode robot control, position control, variable structure systems
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-4279DOI: 10.1109/ROMOCO.2002.1177138ISBN: 83-7143-429-4 (print)OAI: oai:DiVA.org:oru-4279DiVA, id: diva2:138578
Conference
IEEE Third International Workshop on Robot Motion and Control, RoMoCo '02, 9-11 Nov 2002
Available from: 2007-12-14 Created: 2007-12-14 Last updated: 2018-01-13Bibliographically approved

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Iliev, BoykoKalaykov, Ivan

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CiteExportLink to record
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Citation style
  • apa
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Language
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  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf