Stable Fuzzy PD Control with Parallel Sliding Mode Compensation with Application to Rigid Manipulator | Zendy

Farzin Piltan | Zendy; Mohammad A. Bairami | Zendy; Farid Aghayari | Zendy; Mohammad Reza Rashidian | Zendy

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Stable Fuzzy PD Control with Parallel Sliding Mode Compensation with Application to Rigid Manipulator

Author(s) -

Farzin Piltan,

Mohammad A. Bairami,

Farid Aghayari,

Mohammad Reza Rashidian

Publication year - 2013

Publication title -

international journal of information technology and computer science

Language(s) - English

Resource type - Journals

eISSN - 2074-9015

pISSN - 2074-9007

DOI - 10.5815/ijitcs.2013.07.12

Subject(s) - control theory (sociology) , computer science , compensation (psychology) , fuzzy logic , sliding mode control , convergence (economics) , mode (computer interface) , fuzzy control system , stability (learning theory) , control (management) , nonlinear system , artificial intelligence , physics , psychology , psychoanalysis , quantum mechanics , machine learning , economics , economic growth , operating system

Both fuzzy logic and sliding mode can compensate the steady-state error of proportional-derivative (PD) control. This paper presents parallel sliding mode compensations for fuzzy PD controllers. The asymptotic stability of fuzzy PD control with first-order sliding mode compensation in the parallel structure is proven. For the parallel structure, the finite time convergence with a super-twisting second-order sliding-mode is guaranteed

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