Adaptive Fuzzy Terminal Sliding-Mode Controller for Robotic Manipulators

• Main Authors: Yun-Cheng Huang, 黃永政
• Other Authors: Tzuu-Hseng S. Li
• Format: Others
• Language: en_US
• Online Access: http://ndltd.ncl.edu.tw/handle/43540810152098688055

碩士 === 國立成功大學 === 電機工程學系專班 === 93 === 　　A new design approach of an adaptive fuzzy terminal sliding-mode controller (AFTSMC) for robotic manipulators is developed in this thesis. This control algorithm makes the closed-loop controlled system stable, although the detailed system parameters of the robot is unknown. The terminal sliding-mode controller (TSMC) is designed to drive the system tracking errors to reach and retain in the terminal sliding-mode, the system tracking error converges to zero in finite time and the closed-loop system is infinite stable. The AFTSMC, incorporating the fuzzy logic controller (FLC), the TSMC, and adaptive scheme, is designed to retain the advantages of the TSMC and to reduce the chattering. The adaptive law is designed based on the Lyapunov stability criterion. The normalization factor of output variable in the fuzzy mechanism and the output value of compensator are adapted on-line to improve the performance of the fuzzy terminal sliding-mode controller (FTSMC). Thus, it does not require the detailed system parameters for the presented AFTSMC. The simulation results demonstrate that the AFTSMC can provide much better tracking performance than that of the classical adaptive fuzzy sliding-mode controller (AFSMC).