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Fuzzy Neural Sliding Mode Control for Robot Manipulator

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Intelligent Computing Methodologies (ICIC 2016)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9773))

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Abstract

A fuzzy neural sliding mode controller (FNNSMC) is proposed for robot manipulators. Sliding mode controller is implemented based on two radial basic function neural networks and a fuzzy system. The first neural network is used to estimate the robot dynamic function. The second neural network combines with a fuzzy system to present the switching control term of sliding mode control. This combination resolves the chattering phenomenon. The stability of proposed controller is proven. Finally, simulation is done on a 2-link serial robot manipulator to verify the effectiveness.

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Acknowledgments

Following are results of a study on the “Leaders Industry-university Cooperation” Project, supported by the Ministry of Education (MOE).

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Authors and Affiliations

  1. Graduate School of Electrical Engineering, University of Ulsan, Ulsan, 680-749, South Korea

    Duy-Tang Hoang

  2. School of Electrical Engineering, University of Ulsan, Ulsan, 680-749, South Korea

    Hee-Jun Kang

Authors
  1. Duy-Tang Hoang
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  2. Hee-Jun Kang
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Corresponding author

Correspondence to Hee-Jun Kang .

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Editors and Affiliations

  1. Tongji University , Shanghai, China

    De-Shuang Huang

  2. Inha University , Incheon, Korea (Republic of)

    Kyungsook Han

  3. Liverpool John Moores University , Liverpool, United Kingdom

    Abir Hussain

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© 2016 Springer International Publishing Switzerland

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Hoang, DT., Kang, HJ. (2016). Fuzzy Neural Sliding Mode Control for Robot Manipulator. In: Huang, DS., Han, K., Hussain, A. (eds) Intelligent Computing Methodologies. ICIC 2016. Lecture Notes in Computer Science(), vol 9773. Springer, Cham. https://doi.org/10.1007/978-3-319-42297-8_50

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  • DOI: https://doi.org/10.1007/978-3-319-42297-8_50

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-42296-1

  • Online ISBN: 978-3-319-42297-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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