Trajectory Tracking of a Flexible Robot Manipulator by a New Optimized Fuzzy Adaptive Sliding Mode-Based Feedback Linearization Controller
Joint Authors
Mahmoodabadi, M. J.
Nejadkourki, N.
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-07-10
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
This work presents a novel fuzzy adaptive sliding mode-based feedback linearization controller for trajectory tracking of a flexible robot manipulator.
To reach this goal, after deriving the dynamical equations of the robot, the feedback linearization approach is utilized to change the nonlinear dynamics to a linear one and find the control law.
Then, the sliding mode control strategy is implemented to design a stabilizer for trajectory tracking of the flexible robot.
In order to adaptively tune the parameters of the designed controller, the gradient descent approach and the chain derivative rule are employed.
Moreover, the Takagi–Sugeno–Kang fuzzy system is applied to regulate the controller gains.
Finally, a multiobjective particle swarm optimization algorithm is used to find the optimum fuzzy rules.
The conflicting objective functions considered as the integrals of the absolute values of the state error and the control effort should be minimized, simultaneously.
The simulation results illustrate the effectiveness and capability of the introduced scenario in comparison with other methods.
American Psychological Association (APA)
Mahmoodabadi, M. J.& Nejadkourki, N.. 2020. Trajectory Tracking of a Flexible Robot Manipulator by a New Optimized Fuzzy Adaptive Sliding Mode-Based Feedback Linearization Controller. Journal of Robotics،Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1190259
Modern Language Association (MLA)
Mahmoodabadi, M. J.& Nejadkourki, N.. Trajectory Tracking of a Flexible Robot Manipulator by a New Optimized Fuzzy Adaptive Sliding Mode-Based Feedback Linearization Controller. Journal of Robotics No. 2020 (2020), pp.1-12.
https://search.emarefa.net/detail/BIM-1190259
American Medical Association (AMA)
Mahmoodabadi, M. J.& Nejadkourki, N.. Trajectory Tracking of a Flexible Robot Manipulator by a New Optimized Fuzzy Adaptive Sliding Mode-Based Feedback Linearization Controller. Journal of Robotics. 2020. Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1190259
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1190259