Author： Lu Xiaosong Schwartz Howard M.
Publisher： Inderscience Publishers
ISSN： 1746-6172
Source： International Journal of Modelling, Identification and Control, Vol.4, Iss.2, 2008-11, pp. : 127-133
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Abstract
In this paper, we revise an adaptive fuzzy sliding mode control algorithm applied to a robotic manipulator. Lyapunov stability of the overall system for the revised algorithm is proven. Simulation of a two degree of freedom manipulator is used to demonstrate the method. A discussion of the proof of Lyapunov stability for different algorithms is presented.
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