Trajectory tracking of 3-PRR parallel manipulator with PI Adaptive fuzzy terminal sliding mode controller

2011 ◽  
Author(s):  
Gelareh Javid ◽  
Mohammad-R. Akbarzadeh-T. ◽  
Alireza Akbarzadeh ◽  
S. Nader Nabavi
Keyword(s):  
Trajectory Tracking ◽  
Parallel Manipulator ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode ◽  
Adaptive Fuzzy

scholarly journals Trajectory tracking control for chain-series robot manipulator: Robust adaptive fuzzy terminal sliding mode control with low-pass filter

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142091698 ◽  
Author(s):  
Pengcheng Wang ◽  
Dengfeng Zhang ◽  
Baochun Lu
Keyword(s):  
Trajectory Tracking ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Continuous Control ◽  
Terminal Sliding Mode ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Adaptive Fuzzy ◽  
Low Pass ◽  
Robust Adaptive

This article investigates a difficult problem which focuses on the external disturbance and dynamic uncertainty in the process of trajectory tracking. This article presents a robust adaptive fuzzy terminal sliding mode controller with low-pass filter. The low-pass filter can provide smooth position and speed signals. The fuzzy terminal sliding mode controller can achieve fast convergence and desirable tracking precision. Chattering is eliminated with continuous control law, due to high-frequency switching terms contained in the first derivative of actual control signals. Ignoring the prior knowledge upper bound, the controller can reduce the influence of the uncertain kinematics and dynamics in the actual situation. Finally, the experiment is carried out and the results show the performance of the proposed controller.

Adaptive fuzzy sliding mode control for redundant manipulators with varying payload

2016 ◽  
Vol 43 (6) ◽  
pp. 665-676 ◽  
Author(s):  
Jun He ◽  
Minzhou Luo ◽  
Xinglong Zhang ◽  
Marco Ceccarelli ◽  
Jian Fang ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Nonlinear Observer ◽  
Sliding Mode Controller ◽  
Content Type ◽  
Adaptive Fuzzy ◽  
Adaptive Fuzzy Sliding Mode ◽  
Adaptive Fuzzy Logic ◽  
Fuzzy Sliding Mode

Purpose This paper aims to present an adaptive fuzzy sliding mode controller with nonlinear observer (AFSMCO) for the redundant robotic manipulator handling a varying payload to achieve a precise trajectory tracking in the task space. This approach could be applied to solve the problems caused by the dynamic effect of the varying payload to robotic system caused by model uncertainties. Design/methodology/approach First, a suitable observer using the recursive algorithm is presented for an accurate estimation of external disturbances caused by a variable payload. Second, the adaptive fuzzy logic is designed to approximate the parameters of the sliding mode controller combined with nonlinear observer (SMCO) to avoid chattering in real time. Moreover, Lyapunov theory is applied to guarantee the stability of the proposed closed-loop robotic system. Finally, the effectiveness of the proposed control approach and theoretical discussion are proved by simulation results on a seven-link robot and demonstrated by a humanoid robot platform. Findings The varying payload leads to large variations in the dynamics of the manipulator and the tracking error. To achieve high-precision position tracking, nonlinear observer was introduced to feed into the sliding mode control (SMC) which had improved the ability to resist the external disturbance. In addition, the chattering caused by the SMC was eliminated by recursively approximating the switching gain with the usage of adaptive fuzzy logic. Therefore, a distributed control strategy solves the problems of an SMC implementation in improving its tracking performance and eliminating the chattering of the system control. Originality/value The AFSMCO is proposed for the first time and used to control the redundant robotic manipulator that handles the varying payload. The proposed control algorithm possesses better robustness and higher precision for the trajectory tracking than classical SMC.

scholarly journals Modeling and Discrete-Time Terminal Sliding Mode Control of a DEAP Actuator with Rate-Dependent Hysteresis Nonlinearity

2019 ◽  
Vol 9 (13) ◽  
pp. 2625 ◽  
Author(s):  
Mengmeng Li ◽  
Qinglin Wang ◽  
Yuan Li ◽  
Zhaoguo Jiang
Keyword(s):  
Discrete Time ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
Hammerstein Model ◽  
Sliding Mode Controller ◽  
Driving Voltage ◽  
Trajectory Tracking Control ◽  
Terminal Sliding Mode ◽  
Rate Dependent

Dielectric electro-active polymer (DEAP) materials, also called artificial muscle, are a kind of EAP smart materials with extraordinary strains up to 30% at a high driving voltage. However, the asymmetric rate-dependent hysteresis is a barrier for trajectory tracking control of DEAP actuators. To overcome the barrier, in this paper, a Hammerstein model is established for the asymmetric rate-dependent hysteresis of a DEAP actuator first, in which a modified Prandtl-Ishlinskii (MPI) model is used to represent the static hysteresis nonlinear part, and an autoregressive with exogenous inputs (ARX) model is used to represent the linear dynamic part. Applying Levenberg-Marquardt (LM) algorithm identifies the parameters of the Hammerstein model. Then, based on the MPI model, an inverse hysteresis compensator is obtained to compensate the hysteresis behavior. Finally, a compound controller consisting of the hysteresis compensator and a novel discrete-time terminal sliding mode controller (DTSMC) without state observer is proposed to achieve the high-precision trajectory tracking control. Stability analysis of the closed-loop system is verified by using Lyapunov stability theorem. Experimental results based on a DEAP actuator show that the proposed controller has better tracking control performance compared with a conventional discrete-time sliding mode controller (DSMC).

scholarly journals A Nonsingular Terminal Sliding Mode Approach Using Adaptive Disturbance Observer for Finite-Time Trajectory Tracking of MEMS Triaxial Vibratory Gyroscope

2015 ◽  
Vol 2015 ◽  
pp. 1-8 ◽  
Author(s):  
Wei Wang ◽  
Qing Zhao ◽  
Yuxin Zhao ◽  
Dongzhen Du
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
High Amplitude ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode ◽  
Vibratory Gyroscope ◽  
Nonsingular Terminal Sliding Mode ◽  
Parameter Variations

This paper develops a nonsingular terminal sliding mode controller (NTSMC) with adaptive disturbance observer (ADOB) for finite-time trajectory tracking of a MEMS triaxial vibratory gyroscope, which has parameter variations and external high-amplitude disturbance. A novel sliding mode controller with adaptive disturbance observer is designed to reconfigure the parameter variations and external high-amplitude disturbance and reduce the chattering phenomenon on the sliding surface greatly through setting the switching gain in control signal as a smaller value. The disturbance adaptive law is derived to guarantee the stability of the closed-loop adaptive control system via the Lyapunov criterion. The simulation results are performed to verify the effectiveness of the presented schemes.

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