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Proceedings Paper

Application of fuzzy sliding-mode control in robot
Author(s): Yongling Fu; Yan Wang
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Paper Abstract

The system of Pb-211 robot waist is a nonlinear hydraulic servo control system. It is very difficult to achieve speedy response without overshoot by the PID control algorithm for the system control. To improve the performance of the system, a new controller is designed with a fuzzy sliding-mode control algorithm, which makes use of the merits both the fuzzy control and the sliding-mode control algorithm. The simulation results show that the new controller is effective, which can achieve high speediness and steady accuracy without overshoot. The fuzzy sliding-mode control has obvious advantage compared the traditional PID algorithm, and it has strong robust too.

Paper Details

Date Published: 30 October 2006
PDF: 6 pages
Proc. SPIE 6358, Sixth International Symposium on Instrumentation and Control Technology: Sensors, Automatic Measurement, Control, and Computer Simulation, 63583V (30 October 2006); doi: 10.1117/12.718174
Show Author Affiliations
Yongling Fu, Beijing Univ. of Aeronautics and Astronautics (China)
Yan Wang, Beijing Univ. of Aeronautics and Astronautics (China)


Published in SPIE Proceedings Vol. 6358:
Sixth International Symposium on Instrumentation and Control Technology: Sensors, Automatic Measurement, Control, and Computer Simulation
Jiancheng Fang; Zhongyu Wang, Editor(s)

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