Adaptive Fuzzy Sliding Mode and Robust Tracking Control for Manipulators with Uncertain Dynamics
Author
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-07-25
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
In response to the issue of the trajectory tracking control problem of manipulators with uncertain parameters and external disturbance, an adaptive fuzzy sliding mode robust control algorithm is proposed.
Sliding mode control (SMC) is adopted to perform robotic manipulator trajectory tracking control.
Then, a fuzzy logic system is used for adaptive adjustment of switching gain of the SMC and to reduce the buffeting problem.
Next, compensation is made by using the robust controller in consideration of the impacts of unmodeled dynamics and external disturbance.
The simulation experiment on a two axes robotic manipulator shows that, with the proposed control method, the sliding mode control input signal is kept smooth, and the manipulator has high trajectory tracking precision.
American Psychological Association (APA)
Wang, Sanxiu. 2020. Adaptive Fuzzy Sliding Mode and Robust Tracking Control for Manipulators with Uncertain Dynamics. Complexity،Vol. 2020, no. 2020, pp.1-9.
https://search.emarefa.net/detail/BIM-1139911
Modern Language Association (MLA)
Wang, Sanxiu. Adaptive Fuzzy Sliding Mode and Robust Tracking Control for Manipulators with Uncertain Dynamics. Complexity No. 2020 (2020), pp.1-9.
https://search.emarefa.net/detail/BIM-1139911
American Medical Association (AMA)
Wang, Sanxiu. Adaptive Fuzzy Sliding Mode and Robust Tracking Control for Manipulators with Uncertain Dynamics. Complexity. 2020. Vol. 2020, no. 2020, pp.1-9.
https://search.emarefa.net/detail/BIM-1139911
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1139911