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Volume 24 Issue 6
Jun.  1998
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Journal of Beijing University of Aeronautics and Astronautics  > 1998  >  24(6): 684-687.
Wang Qing, Wen Xin, Zhang Minglianet al. Decentralized Fuzzy Variable-Structure Control for Manipulators[J]. Journal of Beijing University of Aeronautics and Astronautics, 1998, 24(6): 684-687. (in Chinese)
Citation: Wang Qing, Wen Xin, Zhang Minglianet al. Decentralized Fuzzy Variable-Structure Control for Manipulators[J]. Journal of Beijing University of Aeronautics and Astronautics, 1998, 24(6): 684-687. (in Chinese)
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Decentralized Fuzzy Variable-Structure Control for Manipulators

  • Beijing University of Aeronautics and Astronautics,Dept. of Automatic Control

  • Received Date: 18 May 1998
  • Publish Date: 30 Jun 1998
    Abstract
  • A decentralized fuzzy variable-structure control is presented for trajectory tracking of robot manipulators. Considering the overall system as a set of linear subsystems with nonlinear uncertainties and interconnections, the tracking problem is tackled by decentralized control method. The proposed control approach enables the system states to track desired trajectories with high precision. Moreover, by using fuzzy control concept in variable-structure system, the chattering problem which exists in most variable-structure systems is subdued, and the system robustness to unmodelled uncertainties and external disturbances is improved. The approach is simple for real-time implementation. Simulation results are presented to validate the conclusions.

     

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    • References(1)
  • 1. Fu L C. Robust adaptive decentralized control of robot manipulator. IEEE Trans on Automatic Control, 1992, 37(1):106~110 2. Singh S K. Decentralized variable structure control for tracking in nonlinear systems. Int J Control, 1990, 52(4):811~831 3. Feng C B, Zhang T P, Wu Y Q, et al.Fuzzy sliding mode control for uncertain dynamic systems via output feedback. In:Proc of 13th IFAC World Congress. San Francisco:[s.n.] 1996. 101~105 4. 金耀初, 蒋静坪. 一类非线性系统的模糊变结构控制与应用. 控制与决策, 1992, 7(1):36~40 5. Xiaohao X, Wu Y, Huang W, et al. Variable-structure approach of decentralized model-reference adaptive system. IEE Proc D 1992, 37:302~306
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