Trajectory-Tracking Control for Manipulators Based on Fuzzy Equivalence and a Terminal Sliding Mode
Abstract
To suppress the chattering of manipulators under heavy-load operations, a control method called fuzzy equivalence & terminal sliding mode (FETSM) was applied to the trajectory tracking of motion curves for manipulators. Based on the switching term of the equivalent sliding mode (ESM), a fuzzy parameter matrix processed by the simple fuzzy rules was introduced, and the fuzzy switching term was obtained. By summing the fuzzy switching term and...
Paper Details
Title
Trajectory-Tracking Control for Manipulators Based on Fuzzy Equivalence and a Terminal Sliding Mode
Published Date
Sep 15, 2021
Journal
Volume
67
Issue
9
Pages
433 - 444
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