Stability for a sliding mode fuzzy control applied to a pneumatic parallel robot

作者：Prieto Pablo J; Cazarez Castro Nohe R^*; Garcia Dianelis; Cardenas Maciela Selene L

来源：RIAI - Revista Iberoamericana de Automatica e Informatica Industrial, 2015, 12(4): 488-496.

DOI：10.1016/j.riai.2015.09.008

• Fuzzy control
• Robot control
• Lyapunov stability
• Sliding mode

In this paper is reported a Mamdani type fuzzy controller based on sliding mode techniques applied to the regulation of a 2 DOF pneumatic parallel robot. Is is proved that the system is stable in Lyapunov sense, and numerical and experimental results are reported. Moreover, the designed controller can be applied to tracking control if speed and acceleration from the system are feedbacked. Also are reported satisfactory experimental results for the tracking case.

• 出版日期2015-12