A new adaptive fuzzy sliding mode control using fuzzy self-tuning for 3 DOF planar robot manipulators.
Ahmed F. AmerElsayed A. SallamWael Mohammed ElawadyPublished in: Appl. Intell. (2012)
Keyphrases
- robot manipulators
- control of robot manipulators
- pid controller
- sliding mode
- end effector
- adaptive controller
- variable structure
- inverse kinematics
- fuzzy neural network
- dynamic model
- control scheme
- fuzzy sets
- fuzzy logic
- sliding mode control
- fuzzy rules
- trajectory planning
- fuzzy numbers
- pose estimation
- adaptive fuzzy
- control system
- adaptive control
- membership functions
- degrees of freedom
- fuzzy control
- joint angles
- fuzzy clustering