Stable Fuzzy PD Control with Parallel Sliding Mode Compensation with Application to Rigid Manipulator

Stable Fuzzy PD Control with Parallel Sliding Mode Compensation with Application to Rigid Manipulator

Автор: Farzin Piltan, Mohammad A. Bairami, Farid Aghayari, Mohammad Reza Rashidian

Журнал: International Journal of Information Technology and Computer Science(IJITCS) @ijitcs

Статья в выпуске: 7 Vol. 5, 2013 года.

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Both fuzzy logic and sliding mode can compensate the steady-state error of proportional-derivative (PD) control. This paper presents parallel sliding mode compensations for fuzzy PD controllers. The asymptotic stability of fuzzy PD control with first-order sliding mode compensation in the parallel structure is proven. For the parallel structure, the finite time convergence with a super-twisting second-order sliding-mode is guaranteed.

Fuzzy Logic Control, Sliding Mode Control, PD Control, Parallel Sliding Mode Compensation

Короткий адрес: https://sciup.org/15011930

IDR: 15011930

Список литературы Stable Fuzzy PD Control with Parallel Sliding Mode Compensation with Application to Rigid Manipulator

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