標題: A Study of T-S Model-Based SMC Scheme With Application to Robot Control
作者: Liang, Yew-Wen
Xu, Sheng-Dong
Liaw, Der-Cherng
Chen, Cheng-Chang
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: Robot manipulators;robust control;sliding-mode control (SMC);Takagi-Sugeno (T-S) fuzzy system model
公開日期: 1-Nov-2008
摘要: In light of the remarkable benefits and numerous applications of the Takagi-Sugeno (T-S) fuzzy system modeling method and the sliding mode control (SMC) technique, this paper aims to study the design of robust controllers for a set of second-order systems using a combination of these two approaches. The combined scheme is shown to have the merits of both approaches. It alleviates not only the online computational burden by using the T-S fuzzy system model to approximate the original nonlinear one (since most of the system parameters of the T-S model can be computed offline) but also preserves the advantages of rapid response and robustness characteristic of the classic SMC schemes. Moreover, the combined scheme does not need to online compute any nonlinear term of the original dynamics, and the increase in the number of fuzzy rules does not create extra online computational burdens for the scheme. The proposed analytical results are also applied to the control of a two-link robot manipulator and compared with the results using classic SMC design. Simulation results demonstrate the benefits of the proposed scheme.
URI: http://dx.doi.org/10.1109/TIE.2008.2005138
http://hdl.handle.net/11536/8174
ISSN: 0278-0046
DOI: 10.1109/TIE.2008.2005138
期刊: IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume: 55
Issue: 11
起始頁: 3964
結束頁: 3971
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