Fuzzy Hype-Plane Variable Sliding Mode Control to Reduce Joint Vibrations
- Resource Type
- Article
Text
- Authors
- Mahmoud Reza Safaei Nasrabad; Ehsan Pouladi; Ghasem Sahamijoo; Alireza Salehi; Farzin Piltan; Nasri b. Sulaiman
- Source
- International Journal of u- and e- Service, Science and Technology, 10/30/2014, Vol. 7, Issue 5, p. 105-116
- Subject
- Fuzzy hype-plane variable sliding mode controller
fuzzy logic theory
flexible robot manipulator
robustness
stability
tuning the terminal
- Language
- 영어(ENG)
- ISSN
- 2005-4246
The sliding mode controller is used to speed up the error convergence when the error is greater than one. To reduce the error terminal sliding mode controller is recommended in this research. Fuzzy hype-plane variable sliding mode controller is adopted to guarantee the error convergence to zero in a finite time when the error is around the zero. The chattering in the conventional sliding model control systems is avoided with the employed continuous controller. To increase the system robustness in presence of uncertainty fuzzy logic controller is recommended. This technique is used to adjust the band of terminals. The simulation results show that the proposed scheme has strong robust against the uncertainties and disturbances, as well as leads to the convergence of the output to the desired value quickly and precisely than employing either sliding mode controller or terminal sliding mode controller alone.