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Adaptive fuzzy sliding mode control for redundant manipulators with varying payload

文献类型：期刊论文

作者He, Jun1; Luo, Minzhou2; Zhang, Xinglong3; Ceccarelli, Marco4; Fang, Jian5; Zhao, Jianghai2
刊名INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL
出版日期2016
卷号43期号:6页码:665-676
关键词Adaptive Control Modeling Fuzzy Logic Redundant Manipulators Robot Control
DOI10.1108/IR-02-2016-0066
文献子类Article
英文摘要Purpose - This paper aims to present an adaptive fuzzy sliding mode controller with nonlinear observer (AFSMCO) for the redundant robotic manipulator handling a varying payload to achieve a precise trajectory tracking in the task space. This approach could be applied to solve the problems caused by the dynamic effect of the varying payload to robotic system caused by model uncertainties.
WOS关键词UNCERTAIN NONLINEAR-SYSTEMS ; RBF NEURAL-NETWORK ; ROBOT MANIPULATORS ; TRACKING CONTROL ; DYNAMICS ; DESIGN
WOS研究方向Engineering ; Robotics
语种英语
WOS记录号WOS:000387101800011
资助机构science and technology support plan key projects of Jiangsu province of China(BE 2013003) ; science and technology support plan key projects of Jiangsu province of China(BE 2013003) ; science and technology support plan key projects of Jiangsu province of China(BE 2013003) ; science and technology support plan key projects of Jiangsu province of China(BE 2013003) ; China Scholarship Council (CSC) ; China Scholarship Council (CSC) ; China Scholarship Council (CSC) ; China Scholarship Council (CSC) ; National Science and technology support program of China(2015 BAK06B02) ; National Science and technology support program of China(2015 BAK06B02) ; National Science and technology support program of China(2015 BAK06B02) ; National Science and technology support program of China(2015 BAK06B02) ; science and technology support plan key projects of Jiangsu province of China(BE 2013003) ; science and technology support plan key projects of Jiangsu province of China(BE 2013003) ; science and technology support plan key projects of Jiangsu province of China(BE 2013003) ; science and technology support plan key projects of Jiangsu province of China(BE 2013003) ; China Scholarship Council (CSC) ; China Scholarship Council (CSC) ; China Scholarship Council (CSC) ; China Scholarship Council (CSC) ; National Science and technology support program of China(2015 BAK06B02) ; National Science and technology support program of China(2015 BAK06B02) ; National Science and technology support program of China(2015 BAK06B02) ; National Science and technology support program of China(2015 BAK06B02)
源URL[http://ir.hfcas.ac.cn:8080/handle/334002/30184]  
专题合肥物质科学研究院_中科院合肥物质科学研究院先进制造技术研究所
作者单位1.Univ Sci & Technol China, Dept Automat, Sch Informat Sci Technol, Hefei, Peoples R China
2.Chinese Acad Sci, Hefei Inst Phys Sci, Inst Adv Mfg & Technol, Changzhou, Jiangsu, Peoples R China
3.Politecn Milan, Dipartimento Elettron Informaz & Bioingn, Milan, Italy
4.DICEM Univ Cassino, LARM Lab Robot & Mechatron, Cassino, Italy
5.Univ Sci & Technol China, Dept Precis Machinery & Precis Instruments, Hefei, Peoples R China
推荐引用方式
GB/T 7714		 He, Jun,Luo, Minzhou,Zhang, Xinglong,et al. Adaptive fuzzy sliding mode control for redundant manipulators with varying payload[J]. INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL,2016,43(6):665-676.
APA He, Jun,Luo, Minzhou,Zhang, Xinglong,Ceccarelli, Marco,Fang, Jian,&Zhao, Jianghai.(2016).Adaptive fuzzy sliding mode control for redundant manipulators with varying payload.INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL,43(6),665-676.
MLA He, Jun,et al."Adaptive fuzzy sliding mode control for redundant manipulators with varying payload".INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL 43.6(2016):665-676.

入库方式： OAI收割

来源：合肥物质科学研究院

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