A robust adaptive fuzzy sliding mode controller for trajectory tracking of ROVs

2011 ◽  
Author(s):  
A. R. Marzbanrad ◽  
M. Eghtesad ◽  
R. Kamali
Keyword(s):  
Trajectory Tracking ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Adaptive Fuzzy ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode ◽  
Robust Adaptive

Adaptive fuzzy sliding mode control for redundant manipulators with varying payload

2016 ◽  
Vol 43 (6) ◽  
pp. 665-676 ◽  
Author(s):  
Jun He ◽  
Minzhou Luo ◽  
Xinglong Zhang ◽  
Marco Ceccarelli ◽  
Jian Fang ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Nonlinear Observer ◽  
Sliding Mode Controller ◽  
Content Type ◽  
Adaptive Fuzzy ◽  
Adaptive Fuzzy Sliding Mode ◽  
Adaptive Fuzzy Logic ◽  
Fuzzy Sliding Mode

Purpose This paper aims to present an adaptive fuzzy sliding mode controller with nonlinear observer (AFSMCO) for the redundant robotic manipulator handling a varying payload to achieve a precise trajectory tracking in the task space. This approach could be applied to solve the problems caused by the dynamic effect of the varying payload to robotic system caused by model uncertainties. Design/methodology/approach First, a suitable observer using the recursive algorithm is presented for an accurate estimation of external disturbances caused by a variable payload. Second, the adaptive fuzzy logic is designed to approximate the parameters of the sliding mode controller combined with nonlinear observer (SMCO) to avoid chattering in real time. Moreover, Lyapunov theory is applied to guarantee the stability of the proposed closed-loop robotic system. Finally, the effectiveness of the proposed control approach and theoretical discussion are proved by simulation results on a seven-link robot and demonstrated by a humanoid robot platform. Findings The varying payload leads to large variations in the dynamics of the manipulator and the tracking error. To achieve high-precision position tracking, nonlinear observer was introduced to feed into the sliding mode control (SMC) which had improved the ability to resist the external disturbance. In addition, the chattering caused by the SMC was eliminated by recursively approximating the switching gain with the usage of adaptive fuzzy logic. Therefore, a distributed control strategy solves the problems of an SMC implementation in improving its tracking performance and eliminating the chattering of the system control. Originality/value The AFSMCO is proposed for the first time and used to control the redundant robotic manipulator that handles the varying payload. The proposed control algorithm possesses better robustness and higher precision for the trajectory tracking than classical SMC.

Sign in / Sign up

Export Citation Format

Share Document