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An investigation of adaptive fuzzy s...

Lu, Xiaosong.

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An investigation of adaptive fuzzy sliding mode control for robotic manipulators.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	An investigation of adaptive fuzzy sliding mode control for robotic manipulators./
作者:	Lu, Xiaosong.
面頁冊數:	107 p.
附註:	Source: Masters Abstracts International, Volume: 45-06, page: 3248.
Contained By:	Masters Abstracts International45-06.
標題:	Engineering, Electronics and Electrical. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=MR26997
ISBN:	9780494269978

An investigation of adaptive fuzzy sliding mode control for robotic manipulators.
Lu, Xiaosong.

An investigation of adaptive fuzzy sliding mode control for robotic manipulators. - 107 p.

Source: Masters Abstracts International, Volume: 45-06, page: 3248.

Thesis (M.A.Sc.)--Carleton University (Canada), 2007.

This thesis examines five adaptive fuzzy sliding mode control algorithms and their suitability for use in the control of a two degree of freedom robotic manipulator. Lin and Hsu's algorithm and Shahnazi et al.'s algorithm are redesigned for robotic manipulators. Theoretical proof of the stability and the convergence of the overall system is presented using Lyapunov stability theorem for each algorithm. Simulations of the five algorithms, applied to a two degree of freedom robotic manipulator, are implemented and we have evaluated their efficacy in maintaining Lyapunov stability.

ISBN: 9780494269978Subjects--Topical Terms:

626636
Engineering, Electronics and Electrical.

An investigation of adaptive fuzzy sliding mode control for robotic manipulators.
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520 $a This thesis examines five adaptive fuzzy sliding mode control algorithms and their suitability for use in the control of a two degree of freedom robotic manipulator. Lin and Hsu's algorithm and Shahnazi et al.'s algorithm are redesigned for robotic manipulators. Theoretical proof of the stability and the convergence of the overall system is presented using Lyapunov stability theorem for each algorithm. Simulations of the five algorithms, applied to a two degree of freedom robotic manipulator, are implemented and we have evaluated their efficacy in maintaining Lyapunov stability.
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