An adaptive fuzzy sliding-mode controller

descriptionPublicationkeyboard_double_arrow_right Article , Part of book or chapter of book 01 Jan 1998Publisher:Institute of Electrical and Electronics Engineers (IEEE)Journal:IEEE Transactions on Industrial Electronics, volume 48, pages 18-31 (issn: 0278-0046,

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Authors: Ralph G. Berstecher; Rainer Palm; Heinz Unbehauen;

doi: 10.1109/41.904541 , 10.1007/978-3-7908-1886-4_8

An adaptive fuzzy sliding-mode controller

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Abstract

This paper deals with a new adaptive fuzzy sliding-mode controller and its application to a robot manipulator arm. The theory for this approach and for the heuristics-based linguistic adaptation is presented, and a mathematical description is derived. Furthermore, an application of this adaptive controller for a two-link robot arm is shown. The obtained results show the high efficiency of the new controller type.

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Siemens (Germany)
Germany
Ruhr University Bochum
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