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  • Adaptive fuzzy sliding mode motion control of robot manipulator
    Rojko, Andreja ; Jezernik, Karel
    This paper describes development and implementation of a decentralized continuous sliding mode motion controller for the robot manipulators. Adaptive fuzzy logic systems (FLSs), one for each robot ... axis, are employed to approximate almost a whole system dynamics. The structural properties of the robot dynamics are used for division of the each FLS to three simpler subsystems. This reduces the FLS's complexity, emphasizes their transparency and enables systematized inclusion of the linguistic knowledge. The validity of the controller scheme was tested by experiments on a three-degree of freedom direct drive robot.
    Vir: Preprints of the 15th Triennial World Congress of the International Federation of Automatic Control [Elektronski vir] : 21st-26th July, 2002, Barcelona, Spain ([6] f.)
    Vrsta gradiva - prispevek na konferenci
    Leto - 2002
    Jezik - angleški
    COBISS.SI-ID - 7299094

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