| Title |
Fuzzy Sliding Mode Controller for a Robot Manipulator with Passive Joints |
| Abstract |
In this paper, we proposed a fuzzy sliding mode controller for a robot manipulator with passive joints. A robot manipulator with passive joints which is not equipped with actuators is a kind of underactuated systems. The control of underactuated manipulators is more difficult than that of fully-actuated ones. Though the sliding mode control technique has a robust characteristics to parameter uncertainties and external disturbances, the chattering phenomena become one of the major problems in application to the real plant. |