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Adaptive fuzzy quasi-continuous high-order sliding mode controller for output feedback tracking control of robot manipulators
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Mien, Van, Kang, H. J. and Shin, K.-S. (2014) Adaptive fuzzy quasi-continuous high-order sliding mode controller for output feedback tracking control of robot manipulators. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 228 (1). pp. 90-107. doi:10.1177/0954406213490465 ISSN 0954-4062.
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Official URL: http://dx.doi.org/10.1177/0954406213490465
Abstract
This article develops a new output feedback tracking control scheme for uncertain robot manipulators with only position measurements. Unlike the conventional sliding mode controller, a quasi-continuous second-order sliding mode controller (QC2C) is first designed. Although the QC2C produces continuous control and less chattering than conventional sliding mode and other high-order sliding mode controllers, chattering exists when the sliding manifold is defined by the equation Formula . To alleviate the chattering, an adaptive fuzzy QC2C (FQC2C) is designed, in which the fuzzy system is used to adaptively tune the sliding mode controller gain. Furthermore, in order to eliminate chattering and achieve higher tracking accuracy, quasi-continuous third-order sliding mode controller (QC3C) and fuzzy QC3C (FQC3C) are investigated. These controllers incorporate a super-twisting second-order sliding mode observer for estimating the joint velocities, and a robust exact differentiator to estimate the sliding manifold derivative; therefore, the velocity measurement is not required. Finally, computer simulation results for a PUMA560 industrial robot are also shown to verify the effectiveness of the proposed strategy
| Item Type: | Journal Article | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| Divisions: | Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group) | ||||||||
| Journal or Publication Title: | Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science | ||||||||
| Publisher: | Sage Publications Ltd. | ||||||||
| ISSN: | 0954-4062 | ||||||||
| Official Date: | January 2014 | ||||||||
| Dates: |
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| Volume: | 228 | ||||||||
| Number: | 1 | ||||||||
| Page Range: | pp. 90-107 | ||||||||
| DOI: | 10.1177/0954406213490465 | ||||||||
| Status: | Peer Reviewed | ||||||||
| Publication Status: | Published | ||||||||
| Access rights to Published version: | Restricted or Subscription Access |
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