An adaptive fuzzy sliding-mode controller

Authors
Berstecher, RG Palm, R Unbehauen, HD
Citation
Rg. Berstecher et al., An adaptive fuzzy sliding-mode controller, IEEE IND E, 48(1), 2001, pp. 18-31
Citations number
11
Categorie Soggetti
Eletrical & Eletronics Engineeing
Journal title
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
ISSN journal
02780046 → ACNP
Volume
48
Issue
1
Year of publication
2001
Pages
18 - 31
Database
ISI
SICI code
0278-0046(200102)48:1<18:AAFSC>2.0.ZU;2-O
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 fo r the heuristics-based linguistic adaptation is presented, and a mathematic al description is derived. Furthermore, an application of this adaptive con troller for a two-link robot arm is shown. The obtained results show the hi gh efficiency of the new controller type.