2022
DOI: 10.1155/2022/2613075
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Rotary Flexible Joint Control Using Adaptive Fuzzy Sliding Mode Scheme

Abstract: An adaptive fuzzy sliding control (AFSMC) approach is adopted in this paper to address the problem of angular position control and vibration suppression of rotary flexible joint systems. AFSMC consists of fuzzy-based singleton control action and switching control law. By adjusting fuzzy parameters with the self-learning ability to discard system nonlinearities and uncertainties, singleton control based on fuzzy approximation theory can estimate the perfect control law of feedback linearization. To enhance robu… Show more

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Cited by 4 publications
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