Stable Fuzzy PD Control with Parallel Sliding Mode Compensation with Application to Rigid Manipulator

@inproceedings{Piltan2013StableFP,
  title={Stable Fuzzy PD Control with Parallel Sliding Mode Compensation with Application to Rigid Manipulator},
  author={Farzin Piltan},
  year={2013}
}
Both fuzzy logic and sliding mode can compensate the steady-state error of proportionalderivative (PD) control. This paper presents parallel sliding mode compensations for fuzzy PD controllers. The asymptotic stability of fuzzy PD control with firstorder sliding mode compensation in the parallel structure is proven. For the parallel structure, the finite time convergence with a super-twisting second-order sliding-mode is guaranteed. 

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