Robust control strategy for electrically driven robot manipulators: adaptive fuzzy sliding mode

Mohammad Reza Soltanpour; Pooria Otadolajam; Mohammad Hassan Khooban

Robust control strategy for electrically driven robot manipulators: adaptive fuzzy sliding mode

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Author(s): Mohammad Reza Soltanpour ¹ ; Pooria Otadolajam ² ; Mohammad Hassan Khooban ³
- Affiliations: 1: Department of Electrical Engineering, Shahid Sattari Aeronautical University of Science and Technology, Tehran, Iran;
  2: Department of Electrical and Control Engineering, Garmsar Branch, Islamic Azad University of Iran, Garmsar, Iran;
  3: Young Researchers and Elite Club, Garmsar Branch, Islamic Azad University, Garmsar, Iran
Source: Volume 9, Issue 3, May 2015, p. 322 – 334
DOI: 10.1049/iet-smt.2013.0265 , Print ISSN 1751-8822, Online ISSN 1751-8830

Received 07/12/2013, Accepted 08/07/2014, Revised 17/05/2014, Published 02/09/2014

In this study, a sliding mode controller is designed to control the position tracking of robot manipulator. The proposed control has global asymptotical stability in the presence of structured uncertainties, un-structured uncertainties and un-modelled dynamics of the robot manipulator as well as in motors dynamics. The proposed control structure is designed in such a way that initially, by using inverse dynamic method, it reduces the uncertainties bound and finally, sliding mode control eliminates the influence of the remaining uncertainties in closed-loop system stability. Further, in control input for eliminating undesirable chattering phenomena using the fuzzy logic, an adaptive fuzzy approximator is designed in such way that approximates the uncertainty bounds. Mathematical proof shows that the adaptive fuzzy sliding mode control of a closed-loop system has global asymptotical stability. Since the number of existing fuzzy rules are low in adaptive fuzzy approximator rules base and in single input–single output form, so control input computational load is very low and this order makes the proposed control of practical implementation possible. To evaluate the performance of the proposed controller, a case study on a robot manipulator with two degrees of freedom is implemented. Simulation results show the desired performance of the proposed controller.

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Robust control strategy for electrically driven robot manipulators: adaptive fuzzy sliding mode

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