Application of fuzzy sliding-mode control in robot

Yongling Fu; Yan Wang

doi:10.1117/12.718174

30 October 2006 Application of fuzzy sliding-mode control in robot

Yongling Fu, Yan Wang

Proceedings Volume 6358, Sixth International Symposium on Instrumentation and Control Technology: Sensors, Automatic Measurement, Control, and Computer Simulation; 63583V (2006) https://doi.org/10.1117/12.718174
Event: Sixth International Symposium on Instrumentation and Control Technology, 2006, Beijing, China

Abstract

The system of Pb-211 robot waist is a nonlinear hydraulic servo control system. It is very difficult to achieve speedy response without overshoot by the PID control algorithm for the system control. To improve the performance of the system, a new controller is designed with a fuzzy sliding-mode control algorithm, which makes use of the merits both the fuzzy control and the sliding-mode control algorithm. The simulation results show that the new controller is effective, which can achieve high speediness and steady accuracy without overshoot. The fuzzy sliding-mode control has obvious advantage compared the traditional PID algorithm, and it has strong robust too.

Citation Download Citation

Yongling Fu and Yan Wang "Application of fuzzy sliding-mode control in robot", Proc. SPIE 6358, Sixth International Symposium on Instrumentation and Control Technology: Sensors, Automatic Measurement, Control, and Computer Simulation, 63583V (30 October 2006); https://doi.org/10.1117/12.718174

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available