Adaptive Sliding Fuzzy Control of Robot Manipulator with Flexible Joints

• Main Authors: Hui-Wen Yang, 楊惠雯
• Other Authors: Shih-Tin Lin
• Format: Others
• Language: zh-TW
• Published: 2015
• Online Access: http://ndltd.ncl.edu.tw/handle/61469028304023289615

碩士 === 國立中興大學 === 機械工程學系所 === 103 === This thesis presents an adaptive sliding fuzzy control scheme is used to arms robot with flexible joints. Design the sliding surface for position control. To overcome the problem of uncertain parameters and chattering is caused by sliding control, design the controller which combine sliding control and adaptive fuzzy control, and then the adaptive controller is proposed. Asymptotic stability of the system is ensured via Lyapunov-like lemma. From the computer simulation results, simulation results show that the position of the arm system can be controlled effectively by the proposed control method.