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Adaptive Fuzzy Dynamic Surface Sliding Mode Position Control for a Robot Manipulator with Friction and Deadzone
Joint Authors
Cheong, Jeong Yun
Han, Seong Ik
Lee, Jang Myung
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-12-02
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
Precise tracking positioning performance in the presence of both the deadzone and friction of a robot manipulator actuator is difficult to achieve by traditional control methodology without proper nonlinear compensation schemes.
In this paper, we present a dynamic surface sliding mode control scheme combined with an adaptive fuzzy system, state observer, and parameter estimator to estimate the uncertainty, friction, and deadzone nonlinearities of a robot manipulator system.
We design a dynamic surface sliding mode basic controller by systematic recursive design steps that yields several adaptive laws for the compensation of nonlinear friction, deadzone, and other unknown nonlinear dynamics.
The boundedness and convergence of this closed-loop system are guaranteed by the Lyapunov stability theorem.
Experiments on the Scorbot robot manipulator demonstrate the validity and effectiveness of the proposed control scheme.
American Psychological Association (APA)
Cheong, Jeong Yun& Han, Seong Ik& Lee, Jang Myung. 2013. Adaptive Fuzzy Dynamic Surface Sliding Mode Position Control for a Robot Manipulator with Friction and Deadzone. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-15.
https://search.emarefa.net/detail/BIM-1008569
Modern Language Association (MLA)
Cheong, Jeong Yun…[et al.]. Adaptive Fuzzy Dynamic Surface Sliding Mode Position Control for a Robot Manipulator with Friction and Deadzone. Mathematical Problems in Engineering No. 2013 (2013), pp.1-15.
https://search.emarefa.net/detail/BIM-1008569
American Medical Association (AMA)
Cheong, Jeong Yun& Han, Seong Ik& Lee, Jang Myung. Adaptive Fuzzy Dynamic Surface Sliding Mode Position Control for a Robot Manipulator with Friction and Deadzone. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-15.
https://search.emarefa.net/detail/BIM-1008569
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1008569