Design Novel Lookup Table Changed Auto Tuning FSMC: Applied to Robot Manipulator

In this paper, the authors proposed a design lookup table changed adaptive fuzzy sliding mode controller with minimum rule base and good response in presence of structure and unstructured uncertainty is presented. However sliding mode controller is one of the robust nonlinear controllers but when this controller is applied to robot manipulator with highly nonlinear and uncertain dynamic function; caused to be challenged in control. Sliding mode controller in presence of uncertainty has two most important drawbacks; chattering and nonlinear equivalent part which proposed method is solved these challenges with look up table change methodology. This method is based on self-tuning methodology therefore artificial intelligence (e.g., fuzzy logic method) is played important role to design proposed method.

Provided by: Computer Science Journals Topic: Hardware Date Added: Feb 2012 Format: PDF

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