research-article

An adaptive fuzzy sliding mode controller for robotic manipulators

Authors:

Yuzheng Guo,

Peng-Yung WooAuthors Info & Claims

IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans, Volume 33, Issue 2

Pages 149 - 159

https://doi.org/10.1109/TSMCA.2002.805804

Published: 01 March 2003 Publication History

Abstract

This paper proposes an adaptive fuzzy sliding mode controller for robotic manipulators. An adaptive single-input single-output (SISO) fuzzy system is applied to calculate each element of the control gain vector in a sliding mode controller. The adaptive law is designed based on the Lyapunov method. Mathematical proof for the stability and the convergence of the system is presented. Various operation situations such as the set point control and the trajectory control are simulated. The simulation results demonstrate that the chattering and the steady state errors, which usually occur in the classical sliding mode control, are eliminated and satisfactory trajectory tracking is achieved.

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Jouila AEssounbouli NNouri KHamzaoui A(2019)Robust Nonsingular Fast Terminal Sliding Mode Control in Trajectory Tracking for a Rigid Robotic ArmAutomatic Control and Computer Sciences10.3103/S014641161906006353:6(511-521)Online publication date: 1-Nov-2019
https://dl.acm.org/doi/10.3103/S0146411619060063
Vo AKang HLe T(2019)An Adaptive Integral Sliding Mode Tracking Control for Robotic ManipulatorsProceedings of the 2019 3rd International Symposium on Computer Science and Intelligent Control10.1145/3386164.3387260(1-6)Online publication date: 25-Sep-2019
https://dl.acm.org/doi/10.1145/3386164.3387260
Londhe PPatre B(2019)Adaptive fuzzy sliding mode control for robust trajectory tracking control of an autonomous underwater vehicleIntelligent Service Robotics10.1007/s11370-018-0263-z12:1(87-102)Online publication date: 1-Jan-2019
https://dl.acm.org/doi/10.1007/s11370-018-0263-z
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An adaptive fuzzy sliding mode controller for robotic manipulators

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cover image IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans

IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans Volume 33, Issue 2

March 2003

129 pages

ISSN:1083-4427

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IEEE Press

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Published: 01 March 2003

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Jouila AEssounbouli NNouri KHamzaoui A(2019)Robust Nonsingular Fast Terminal Sliding Mode Control in Trajectory Tracking for a Rigid Robotic ArmAutomatic Control and Computer Sciences10.3103/S014641161906006353:6(511-521)Online publication date: 1-Nov-2019
https://dl.acm.org/doi/10.3103/S0146411619060063
Vo AKang HLe T(2019)An Adaptive Integral Sliding Mode Tracking Control for Robotic ManipulatorsProceedings of the 2019 3rd International Symposium on Computer Science and Intelligent Control10.1145/3386164.3387260(1-6)Online publication date: 25-Sep-2019
https://dl.acm.org/doi/10.1145/3386164.3387260
Londhe PPatre B(2019)Adaptive fuzzy sliding mode control for robust trajectory tracking control of an autonomous underwater vehicleIntelligent Service Robotics10.1007/s11370-018-0263-z12:1(87-102)Online publication date: 1-Jan-2019
https://dl.acm.org/doi/10.1007/s11370-018-0263-z
Nguyen VVo AKang H(2019)Continuous PID Sliding Mode Control Based on Neural Third Order Sliding Mode Observer for Robotic ManipulatorsIntelligent Computing Methodologies10.1007/978-3-030-26766-7_16(167-178)Online publication date: 3-Aug-2019
https://dl.acm.org/doi/10.1007/978-3-030-26766-7_16
Khanesar MHosseini M(2017)Guaranteed cost adaptive sliding mode fuzzy control systems2017 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)10.1109/FUZZ-IEEE.2017.8015769(1-5)Online publication date: 9-Jul-2017
https://dl.acm.org/doi/10.1109/FUZZ-IEEE.2017.8015769
Mohammadi Asl RShabbouei Hagh YPalm R(2017)Robust control by adaptive Non-singular Terminal Sliding ModeEngineering Applications of Artificial Intelligence10.1016/j.engappai.2017.01.00559:C(205-217)Online publication date: 1-Mar-2017
https://dl.acm.org/doi/10.1016/j.engappai.2017.01.005
Zhang YLi RXue TLiu ZYao Z(2016)An analysis of the stability and chattering reduction of high-order sliding mode tracking control for a hypersonic vehicleInformation Sciences: an International Journal10.1016/j.ins.2016.02.012348:C(25-48)Online publication date: 20-Jun-2016
https://dl.acm.org/doi/10.1016/j.ins.2016.02.012
Treesatayapun C(2015)Data input-output adaptive controller based on IF-THEN rules for a class of non-affine discrete-time systemsJournal of Intelligent & Fuzzy Systems: Applications in Engineering and Technology10.5555/2729770.272978628:2(661-668)Online publication date: 1-Mar-2015
https://dl.acm.org/doi/10.5555/2729770.2729786
Qu XNussbaum M(2009)Simulating human lifting motions using fuzzy-logic controlIEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans10.1109/TSMCA.2008.200799639:1(109-118)Online publication date: 1-Jan-2009
https://dl.acm.org/doi/10.1109/TSMCA.2008.2007996
Chang YYen HWu M(2008)An intelligent robust tracking control for electrically-driven robot systemsInternational Journal of Systems Science10.1080/0020772070183274739:5(497-511)Online publication date: 1-May-2008
https://dl.acm.org/doi/10.1080/00207720701832747
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