Adaptive fuzzy and sliding-mode control of a robot manipulator with varying payload
Bildiriler > Tam Metin Bildiri · 2011
Yazarlar: Selami Beyhan, Zsofia LENDEK, Robert BABUASKA, Martijn WİSSE, Musa ALCI
IEEE Conference on Decision and Control and European Control Conference, Amerika Birleşik Devletleri, Uluslararası, Sözlü Sunum, Tam Metin Bildiri, 2011-2011, Wos, cilt 28, ss 8291-8296
Özet
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.