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Decentralized adaptive fuzzy sliding mode control for reconfigurable modular manipulators
Author(s) -
Zhu Mingchao,
Li Yuanchun
Publication year - 2009
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1444
Subject(s) - control theory (sociology) , modular design , controller (irrigation) , fuzzy logic , computer science , sliding mode control , scheme (mathematics) , control engineering , trajectory , decentralised system , adaptive control , lyapunov function , fuzzy control system , lyapunov stability , interconnection , control (management) , mathematics , nonlinear system , engineering , artificial intelligence , mathematical analysis , computer network , physics , quantum mechanics , astronomy , agronomy , biology , operating system
A stable decentralized adaptive fuzzy sliding mode control scheme is proposed for reconfigurable modular manipulators to satisfy the concept of modular software. For the development of the decentralized control, the dynamics of reconfigurable modular manipulators is represented as a set of interconnected subsystems. A first‐order Takagi–Sugeno fuzzy logic system is introduced to approximate the unknown dynamics of subsystem by using adaptive algorithm. The effect of interconnection term and fuzzy approximation error is removed by employing an adaptive sliding mode controller. All adaptive algorithms in the subsystem controller are derived from the sense of Lyapunov stability analysis, so that resulting closed‐loop system is stable and the trajectory tracking performance is guaranteed. The simulation results are presented to show the effectiveness of the proposed decentralized control scheme. Copyright © 2009 John Wiley & Sons, Ltd.