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Robust fuzzy sliding mode control for tracking the robot manipulator in joint space and in presence of uncertainties

Published online by Cambridge University Press:  07 August 2013

Mohammad Reza Soltanpour ,
Mohammad Hassan Khooban  and
Mahmoodreza Soltani
Mohammad Reza Soltanpour
Affiliation:
Department of Electrical Engineering, Aeronautical University of Science and Technology, Tehran, Iran
Mohammad Hassan Khooban*
Affiliation:
Electronic and Electrical Department, Shiraz University of Technology, Shiraz, Iran
Mahmoodreza Soltani
Affiliation:
Department of Civil Engineering, Clemson University, Clemson, South Carolina, USA
*
*Corresponding author. E-mail: mhkhoban@gmail.com
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Summary

This paper proposes a simple fuzzy sliding mode control to achieve the best trajectory tracking for the robot manipulator. In the core of the proposed method, by applying the feedback linearization technique, the known dynamics of the robot's manipulator is removed; then, in order to overcome the remaining uncertainties, a classic sliding mode control is designed. Afterward, by applying the TS fuzzy model, the classic sliding mode controller is converted to fuzzy sliding mode controller with very simple rule base. The mathematical analysis shows that the robot manipulator with the new proposed control in tracking the robot manipulator in presence of uncertainties has the globally asymptotic stability. Finally, to show the performance of the proposed method, the controller is simulated on a robot manipulator with two degrees of freedom as case study of the research. Simulation results demonstrate the superiority of the proposed control scheme in presence of the structured and unstructured uncertainties.

Keywords

Robot manipulatorSliding mode controlFuzzyUncertainties
Type
Articles
Information
Robotica , Volume 32 , Issue 3 , May 2014 , pp. 433 - 446
Copyright
Copyright © Cambridge University Press 2013 

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