Artificial Robust Control of Robot Arm: Design a Novel SISO Backstepping Adaptive Lyapunov Based Variable Structure Control.

• Main Authors: Sulaiman, Nasri, Piltan, Farzin, Jalali, Amin, Siamak, Sobhan, Nazari, Iman
• Format: Article
• Language: English
• Published: 2011
• Online Access: http://psasir.upm.edu.my/id/eprint/23311/

This paper examines single input single output (SISO) chattering free variable structure control (VSC) which controller coefficient is on-line tuned by fuzzy backstepping algorithm. VSC methodology is selected as a framework to construct the control law and address the stability and robustness of th...