Fuzzy adaptive sliding mode control of a direct drive robot

Kemalettin Erbatur, Okyay Kaynak, Asif Sabanovic, I. Rudas

Research output: Contribution to journalArticle

34 Citations (Scopus)

Abstract

A number of approaches based on sliding mode control methodology are proposed in the literature for the position control of robotic manipulators. An important problem in this context is chattering, that is high frequency oscillations in the velocity. In this paper, a novel approach is considered which eliminates chattering if the controller parameters are set suitably. Fuzzy adaptation schemes are devised for the on-line adaptation of the parameters of this method. Implementation results show that the fuzzy rule based adaptation schemes ensure a fast system response and a fast convergence of the system states to the sliding surface.

Original languageEnglish
Pages (from-to)215-227
Number of pages13
JournalRobotics and Autonomous Systems
Volume19
Issue number2 SPEC. ISS.
Publication statusPublished - Dec 1996

Fingerprint

Fuzzy Sliding Mode Control
Adaptive Sliding Mode Control
Position control
Fuzzy rules
Sliding mode control
Manipulators
Robotics
Chattering
Robot
Robots
Controllers
Robotic Manipulator
Position Control
Sliding Mode Control
Fuzzy Rules
Eliminate
Oscillation
Controller
Methodology

Keywords

  • Direct drive robots
  • Fuzzy adaptation
  • Robot trajectory control
  • Sliding modes

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Computational Mechanics

Cite this

Erbatur, K., Kaynak, O., Sabanovic, A., & Rudas, I. (1996). Fuzzy adaptive sliding mode control of a direct drive robot. Robotics and Autonomous Systems, 19(2 SPEC. ISS.), 215-227.

Fuzzy adaptive sliding mode control of a direct drive robot. / Erbatur, Kemalettin; Kaynak, Okyay; Sabanovic, Asif; Rudas, I.

In: Robotics and Autonomous Systems, Vol. 19, No. 2 SPEC. ISS., 12.1996, p. 215-227.

Research output: Contribution to journalArticle

Erbatur, K, Kaynak, O, Sabanovic, A & Rudas, I 1996, 'Fuzzy adaptive sliding mode control of a direct drive robot', Robotics and Autonomous Systems, vol. 19, no. 2 SPEC. ISS., pp. 215-227.
Erbatur K, Kaynak O, Sabanovic A, Rudas I. Fuzzy adaptive sliding mode control of a direct drive robot. Robotics and Autonomous Systems. 1996 Dec;19(2 SPEC. ISS.):215-227.
Erbatur, Kemalettin ; Kaynak, Okyay ; Sabanovic, Asif ; Rudas, I. / Fuzzy adaptive sliding mode control of a direct drive robot. In: Robotics and Autonomous Systems. 1996 ; Vol. 19, No. 2 SPEC. ISS. pp. 215-227.
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