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A new method of fuzzy reaching law sliding mode variable structure control of robot manipulators is proposed, which is formed by incorporating sliding mode control and fuzzy control with reaching law. This method converts of a multi-input system into single-input systems. It can not only track approximately the desired trajectory and make system have good control property, but also completely eliminate...
In this paper, a chattering free sliding mode control (SMC) for a robot manipulator including PID part with a fuzzy tunable gain is designed. The main idea is that the robustness property of SMC and good response characteristics of PID are combined with fuzzy tuning gain approach to achieve more acceptable performance. For this purpose, in the first stage, a PID sliding surface is considered such...
In this paper, an adaptive fuzzy sliding mode controller is proposed for a three-axis SCARA manipulator. The proposed controller possesses the advantages of adaptive control, fuzzy control, and sliding mode control. Based on the concept of sliding mode, fuzzy rules are developed to alleviate the input chattering effectively by using the developed adaptation law. The stability of the three-axis SCARA...
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