Sliding mode control is a very attractive control scheme with strong robustness to structured and unstructured uncertainties as well as to external disturbances. In this paper, a robust fuzzy sliding mode controller, which is combined with an adaptive fuzzy logic system, is proposed to improve the control performance of the robotic manipulator with kinematic and dynamic uncertainties. In this controller, the sliding mode control is employed to improve the control accuracy and the robustness of the robotic manipulator, and the fuzzy logic control is adopted to approximate various uncertainties and to eliminate the chattering without the help of any prior knowledge of system uncertainties. The effectiveness of the proposed controller is then verified by the simulations on a 2-DOF (degrees of freedom) robotic manipulator and the experiments on an SCARA robot with four degrees of freedom. Simulated and experimental results indicate that the proposed controller is effective in the robust tracking of the robotic manipulator with kinematic and dynamic uncertainties.
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November 2012
Research-Article
Fuzzy Sliding Mode Control of Robotic Manipulators With Kinematic and Dynamic Uncertainties
Tie Zhang
Tie Zhang
Professor
e-mail: merobot@scut.edu.cn
e-mail: merobot@scut.edu.cn
School of Mechanical & Automotive Engineering
,South China University of Technology
,Guangzhou 510640
, China
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Haitao Liu
e-mail: gdliuht@126.com
Tie Zhang
Professor
e-mail: merobot@scut.edu.cn
e-mail: merobot@scut.edu.cn
School of Mechanical & Automotive Engineering
,South China University of Technology
,Guangzhou 510640
, China
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received October 22, 2010; final manuscript received March 10, 2012; published online September 13, 2012. Assoc. Editor: Sheng-Guo Wang.
J. Dyn. Sys., Meas., Control. Nov 2012, 134(6): 061007 (9 pages)
Published Online: September 13, 2012
Article history
Received:
October 22, 2010
Revision Received:
March 10, 2012
Citation
Liu, H., and Zhang, T. (September 13, 2012). "Fuzzy Sliding Mode Control of Robotic Manipulators With Kinematic and Dynamic Uncertainties." ASME. J. Dyn. Sys., Meas., Control. November 2012; 134(6): 061007. https://doi.org/10.1115/1.4006626
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