Paper Info
Title
Adaptive Fuzzy And Sliding-Mode Control Of A Robot Manipulator With Varying Payload
Abstract
In this paper, we compare indirect adaptive fuzzy control and sliding-mode control in a robot manipulator application. The manipulator performs pick-and-place tasks with unknown and variable payloads. The change of payload causes large variations in the dynamics of the robot. The sliding-mode controller deals with the payload change through its inherent robustness, while the adaptive fuzzy control algorithm adjusts the controller's parameters on-line. The control methods are compared both in numerical simulations and in real-time experiments. The sliding mode controller obtains a very good steady performance. However, thanks to the continuing adaptation, the adaptive fuzzy controller eventually yields smaller steady-state error.
Year
DOI
Venue
2011
10.1109/CDC.2011.6160802
2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC)
Keywords
Field
DocType
payloads,adaptive systems,sliding mode control,real time,fuzzy control,numerical simulation,adaptive system,steady state
Control theory,Control theory,Adaptive system,Computer science,Fuzzy logic,Control engineering,Robustness (computer science),Fuzzy control system,Robot,Payload,Sliding mode control
Conference
ISSN
Citations 
PageRank 
0743-1546
0
0.34
References 
Authors
11
5
Name
Order
Citations
PageRank
Selami Beyhan1246.30
Zsófia Lendek2788.23
Robert Babuska32200164.90
Martijn Wisse434132.83
Musa Alci5819.16