Design of Adaptive Sliding-Mode Controller for Nonlinear System with Modeling Uncertainties
- 10.2991/meic-15.2015.257How to use a DOI?
- adaptive control; robotic dynamic systems; fuzzy basis function networks(FBFN); sliding-mode control; uncertain nonliear system
The robot manipulators is a complicated uncertain nonlinear system, mainly due to the nonlinear and coupled character of system equations and the lack of a precise model for the dynamics and parameters, as well as the appearance of internal and external perturbations. A new control algorithm was proposed for the above-mentioned problem. Methods: According to the general model for the robotic system and the sliding-mode control theory, the corresponding control law was designed. For many reasons, there always exists discrepancy between nominal and actual mode. As the FBFN(Fuzzy Basis Function Networks) can approximate any function in the continuous course with arbitrary accuracy, it was applied to approximate the uncertainty of the system, and the parameters were updated by the adaptive law. Based on the theory of Lyapunov stability, the stability of the adaptive controller was given with a sufficient condition. Results: The tracking error was convergent to the switching surface in finite time. Conclusion: The simulation results demonstrate the good performance of the proposed controller.
- © 2015, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Wenda Zheng AU - Gang Xu AU - Gang Wu AU - Junxiang Ding PY - 2015/04 DA - 2015/04 TI - Design of Adaptive Sliding-Mode Controller for Nonlinear System with Modeling Uncertainties BT - Proceedings of the 2015 International Conference on Mechatronics, Electronic, Industrial and Control Engineering PB - Atlantis Press SP - 1132 EP - 1135 SN - 2352-5401 UR - https://doi.org/10.2991/meic-15.2015.257 DO - 10.2991/meic-15.2015.257 ID - Zheng2015/04 ER -