Adaptive fuzzy nonsingular terminal sliding mode controller for robot manipulator actuated by pneumatic artificial muscles

2013 ◽  
Author(s):  
A. Rezoug ◽  
B. Tondu ◽  
M. Hamerlain ◽  
M. Tadjine
Keyword(s):  
Sliding Mode ◽  
Robot Manipulator ◽  
Artificial Muscles ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode ◽  
Adaptive Fuzzy ◽  
Nonsingular Terminal Sliding Mode ◽  
Pneumatic Artificial Muscles

scholarly journals Trajectory tracking control for chain-series robot manipulator: Robust adaptive fuzzy terminal sliding mode control with low-pass filter

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142091698 ◽  
Author(s):  
Pengcheng Wang ◽  
Dengfeng Zhang ◽  
Baochun Lu
Keyword(s):  
Trajectory Tracking ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Continuous Control ◽  
Terminal Sliding Mode ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Adaptive Fuzzy ◽  
Low Pass ◽  
Robust Adaptive

This article investigates a difficult problem which focuses on the external disturbance and dynamic uncertainty in the process of trajectory tracking. This article presents a robust adaptive fuzzy terminal sliding mode controller with low-pass filter. The low-pass filter can provide smooth position and speed signals. The fuzzy terminal sliding mode controller can achieve fast convergence and desirable tracking precision. Chattering is eliminated with continuous control law, due to high-frequency switching terms contained in the first derivative of actual control signals. Ignoring the prior knowledge upper bound, the controller can reduce the influence of the uncertain kinematics and dynamics in the actual situation. Finally, the experiment is carried out and the results show the performance of the proposed controller.

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