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| Titre: | Fuzzy logic controller for a pneumatic artificial muscle robot based on sliding mode control |
| Auteur(s): | Rezoug, Abdellah
Meddahi, A.
Baizid, K.
Hamerlain, m.
Tadjine, M. |
| Mots-clés: | Fuzzy logic control
Fuzzy sliding mode control
Manipulator robot
Pneumatic artificial muscles
Sliding mode control
Pneumatic artificial muscles
Fuzzy control
Fuzzy logic
Fuzzy systems
Manipulators
Muscle
Pneumatic drives
Pneumatics
Robotics
Robots
Sliding mode control
Controllers |
| Date de publication: | 2009 |
| Référence bibliographique: | 14th IASTED International Conference on Robotics and Applications, RA 2009; Cambridge, MA; United States; 2 November 2009 through 4 November 2009; Code 80283 |
| Collection/Numéro: | Proceedings of the IASTED International Conference on Robotics and Applications 2009;pp.74-81 |
| Résumé: | Fuzzy Logic Control (FLC) has been successfully established in control systems engineering in the recent years, in other hand, Sliding Mode Control (SMC) is an active area in control research. The combination of this tow fields called Fuzzy Sliding Mode Control (FSMC) techniques to exploit the superior sides of these two controllers have drawn the attention of the scientific community. In this work, we proposed fuzzy logic controller based on the sliding mode theory to control the robot arm actuated by the pneumatics artificial muscles. Using bang-bang motion generation law, the objective of the control is the position and the velocity tracking by the robot. Simulations results demonstrate the feasibility and the advantages of our proposed research work. |
| URI/URL: | http://dlibrary.univ-boumerdes.dz:8080123456789/2087 |
| ISBN: | 978-088986813-7 |
| Collection(s) : | Communications Internationales
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