Fuzzy parameter adaptation for a sliding mode controller as applied to the control of an articulated arm

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (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. A fuzzy adaptation scheme is devised for the online adaptation of the parameters of this method. Simulation results show that the fuzzy rule based adaptation scheme ensures good controller performance without chattering.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherIEEE
Pages817-822
Number of pages6
Volume1
Publication statusPublished - 1997
EventProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA
Duration: Apr 20 1997Apr 25 1997

Other

OtherProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4)
CityAlbuquerque, NM, USA
Period4/20/974/25/97

Fingerprint

Controllers
Position control
Fuzzy rules
Sliding mode control
Manipulators
Robotics

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Erbatur, K., Kaynak, O., Sabanovic, A., & Rudas, I. (1997). Fuzzy parameter adaptation for a sliding mode controller as applied to the control of an articulated arm. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 1, pp. 817-822). IEEE.

Fuzzy parameter adaptation for a sliding mode controller as applied to the control of an articulated arm. / Erbatur, Kemalettin; Kaynak, Okyay; Sabanovic, Asif; Rudas, I.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1 IEEE, 1997. p. 817-822.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Erbatur, K, Kaynak, O, Sabanovic, A & Rudas, I 1997, Fuzzy parameter adaptation for a sliding mode controller as applied to the control of an articulated arm. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 1, IEEE, pp. 817-822, Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4), Albuquerque, NM, USA, 4/20/97.
Erbatur K, Kaynak O, Sabanovic A, Rudas I. Fuzzy parameter adaptation for a sliding mode controller as applied to the control of an articulated arm. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1. IEEE. 1997. p. 817-822
Erbatur, Kemalettin ; Kaynak, Okyay ; Sabanovic, Asif ; Rudas, I. / Fuzzy parameter adaptation for a sliding mode controller as applied to the control of an articulated arm. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1 IEEE, 1997. pp. 817-822
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