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Fuzzy Adaptive Variable Structure Control of Second-Order Robotic Manipulators with Dead Zones

Author

Listed:
  • Songyu Wang
  • Xianmin Hou
  • Shenggang Li

Abstract

In this study, with respect to certain second-order robotic systems with dead zones, a fuzzy adaptive variable structure controller (VSC) is implemented. Some suitable adaptive fuzzy systems are used to estimate uncertain functions. Based on Lyapunov stability theorems, parameter adaptive laws are designed, and it is proven that all signals involved will remain bounded and the stability of the controlled system is also guaranteed. Our controller is effective for the system with or without sector nonlinearity. Finally, a simulation example is presented to illustrate the correctness of the theoretical derivation.

Suggested Citation

  • Songyu Wang & Xianmin Hou & Shenggang Li, 2021. "Fuzzy Adaptive Variable Structure Control of Second-Order Robotic Manipulators with Dead Zones," Journal of Mathematics, Hindawi, vol. 2021, pages 1-9, February.
    • Handle: RePEc:hin:jjmath:6668405
    DOI: 10.1155/2021/6668405
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