Trajectory Control of a Robotic Manipulator Utilizing an Adaptive Fuzzy Sliding Mode
In this paper, a novel adaptive fuzzy sliding mode
control method is proposed for the robust tracking control of robotic
manipulators. The proposed controller possesses the advantages of
adaptive control, fuzzy control, and sliding mode control. First, system
stability and robustness are guaranteed based on the sliding mode
control. Further, fuzzy rules are developed incorporating with
adaptation law to alleviate the input chattering effectively. Stability of
the control system is proven by using the Lyapunov method. An
application to a three-degree-of-freedom robotic manipulator is
carried out. Accurate trajectory tracking as well as robustness is
achieved. Input chattering is greatly eliminated.
[1] P. R. W. Ouyang, J. Zhang, and M. M. Gupta, "An adaptive switching
learning control method for trajectory tracking of robot manipulators,"
Mechatronics, vol. 16, no. 1, pp. 51-61, 2006.
[2] Z. Qi, J. E. McIrony, and F. Jafari, "Trajectory tracking with parallel
robots using low chattering, fuzzy sliding mode controller," J. Intell.
Robot. Syst., vol. 48, no. 3, pp. 333-356, 2007.
[3] V. Parra-Vega, S. Arimoto, Y. H. Liu, G. Hirzinger, and P. Akella,
"Dynamic sliding PID control for tracking of robot manipulators: theory
and experiments," IEEE Trans. Robot. Automat., vol. 19, no. 6, pp.
967-976, 2003.
[4] H. Hu and P. Y. Woo, "Fuzzy supervisory sliding-mode and
neural-network control for robotic manipulators," IEEE Trans. Ind.
Electron., vol. 53, no. 3, pp. 929-940, 2006.
[5] H. F. Ho, Y. K. Wong, and A. B. Rad, "Robust fuzzy tracking control for
robotic manipulators," Sim. Mod. Pract. Theory, vol. 15, no. 7, pp.
801-816, 2007.
[6] A. Ferrara and L. Magnani, "Motion control of rigid robot manipulators
via first and second order sliding mode," J. Intell. Robot. Syst., vol. 48, no.
1, pp. 23-36, 2007.
[7] V. I. Utkin, Sliding Mode in Control and Optimization. Springer-Verlag,
New York, 1992.
[8] J. Y. Hung, W. Gao, and J. C. Hung, "Variable structure control: a
survey," IEEE Trans. Ind. Electron., vol. 40, no. 1, pp. 2-22, 1993.
[9] K. D. Young, V. I. Utkin, and Ü. Özgüner, "A control engineer's guide to
sliding mode control," IEEE Trans. Contr. Syst. Tech., vol. 7, no. 3, pp.
328-342, 1999.
[10] J. J. E. Slotine and W. Li, Applied Nonlinear Control. Prentice-Hall,
Englewood Cliffs, NJ, 1991.
[11] P. Guan, X. J., Liu, and J. Z. Liu, "Adaptive fuzzy sliding mode control
for flexible satellite," Eng. Appl. Arti. Intell., vol. 18, no. 4, pp. 451-459,
2005.
[12] L. X. Wang, A Course in Fuzzy Systems and Control. Englewood Cliffs,
NJ: Prentice-Hall, 1997.
[13] L. Astudillo, O. Castillo, P. Melin, A. Alanis, J. Soria, and L. T. Aguilar,
"Intelligent control of an autonomous mobile robot using type-2 fuzzy
logic," Engineering Letters, vol. 13, no. 2, pp. 93-97, 2006.
[14] H. N. Wu and M. Z. Bai, "Active fault-tolerant fuzzy control design of
nonlinear model tracking with application to chaotic systems," IET
Control Theory & Applications, vol. 3, no. 6, pp. 642-653, 2009.
[15] R. E. Precup, S. Preitl, I. J. Rudas, M. L. Tomescu, and J. K. Tar, "Design
and experiments for a class of fuzzy controlled servo systems,"
IEEE/ASME Trans. Mechatronics, vol. 13, no. 1, pp. 22-35, 2008.
[16] L. A. Zadeh, "Fuzzy sets," Inf. Control, vol. 8, pp. 338-353, 1965.
[17] O. Kaynak, K. Erbatur, and M. Ertugrul, "The fusion of computationally
intelligent methodologies and sliding mode control, a survey," IEEE
Trans. Ind. Electron., vol. 48, no. 1, pp. 4-17, Feb. 2001.
[18] C. Hwang and C. Kuo, "A stable fuzzy sliding mode control for affine
nonlinear system with application to four-bar linkage system," IEEE
Trans. Fuzzy Syst., vol. 9, no. 2, pp. 238-252, Apr. 2001.
[19] B. K. Yoo and W. C. Ham, "Adaptive control of robot manipulator using
fuzzy compensator," IEEE Trans. Fuzzy Syst., vol. 8, no. 2, pp. 186-199,
2000.
[20] F. L. Lewis, C. T. Abdallah, and D. M. Dawson, Control of Robot
Manipulators. Macmillan New York, 1993.
[21] A. G. AK and G. Cansever, "Three link robot control with fuzzy sliding
mode controller based on RBF neural network," Proc. 2006 IEEE Int.
Symp. Intell. Contr., pp. 2719-2724, 2006,
[22] Y. Guo and P. Y. Woo, "An adaptive fuzzy sliding mode controller for
robotic manipulators," IEEE Trans. Syst. Man Cybern., vol. 33, no. 2,
149-159, 2003.
[1] P. R. W. Ouyang, J. Zhang, and M. M. Gupta, "An adaptive switching
learning control method for trajectory tracking of robot manipulators,"
Mechatronics, vol. 16, no. 1, pp. 51-61, 2006.
[2] Z. Qi, J. E. McIrony, and F. Jafari, "Trajectory tracking with parallel
robots using low chattering, fuzzy sliding mode controller," J. Intell.
Robot. Syst., vol. 48, no. 3, pp. 333-356, 2007.
[3] V. Parra-Vega, S. Arimoto, Y. H. Liu, G. Hirzinger, and P. Akella,
"Dynamic sliding PID control for tracking of robot manipulators: theory
and experiments," IEEE Trans. Robot. Automat., vol. 19, no. 6, pp.
967-976, 2003.
[4] H. Hu and P. Y. Woo, "Fuzzy supervisory sliding-mode and
neural-network control for robotic manipulators," IEEE Trans. Ind.
Electron., vol. 53, no. 3, pp. 929-940, 2006.
[5] H. F. Ho, Y. K. Wong, and A. B. Rad, "Robust fuzzy tracking control for
robotic manipulators," Sim. Mod. Pract. Theory, vol. 15, no. 7, pp.
801-816, 2007.
[6] A. Ferrara and L. Magnani, "Motion control of rigid robot manipulators
via first and second order sliding mode," J. Intell. Robot. Syst., vol. 48, no.
1, pp. 23-36, 2007.
[7] V. I. Utkin, Sliding Mode in Control and Optimization. Springer-Verlag,
New York, 1992.
[8] J. Y. Hung, W. Gao, and J. C. Hung, "Variable structure control: a
survey," IEEE Trans. Ind. Electron., vol. 40, no. 1, pp. 2-22, 1993.
[9] K. D. Young, V. I. Utkin, and Ü. Özgüner, "A control engineer's guide to
sliding mode control," IEEE Trans. Contr. Syst. Tech., vol. 7, no. 3, pp.
328-342, 1999.
[10] J. J. E. Slotine and W. Li, Applied Nonlinear Control. Prentice-Hall,
Englewood Cliffs, NJ, 1991.
[11] P. Guan, X. J., Liu, and J. Z. Liu, "Adaptive fuzzy sliding mode control
for flexible satellite," Eng. Appl. Arti. Intell., vol. 18, no. 4, pp. 451-459,
2005.
[12] L. X. Wang, A Course in Fuzzy Systems and Control. Englewood Cliffs,
NJ: Prentice-Hall, 1997.
[13] L. Astudillo, O. Castillo, P. Melin, A. Alanis, J. Soria, and L. T. Aguilar,
"Intelligent control of an autonomous mobile robot using type-2 fuzzy
logic," Engineering Letters, vol. 13, no. 2, pp. 93-97, 2006.
[14] H. N. Wu and M. Z. Bai, "Active fault-tolerant fuzzy control design of
nonlinear model tracking with application to chaotic systems," IET
Control Theory & Applications, vol. 3, no. 6, pp. 642-653, 2009.
[15] R. E. Precup, S. Preitl, I. J. Rudas, M. L. Tomescu, and J. K. Tar, "Design
and experiments for a class of fuzzy controlled servo systems,"
IEEE/ASME Trans. Mechatronics, vol. 13, no. 1, pp. 22-35, 2008.
[16] L. A. Zadeh, "Fuzzy sets," Inf. Control, vol. 8, pp. 338-353, 1965.
[17] O. Kaynak, K. Erbatur, and M. Ertugrul, "The fusion of computationally
intelligent methodologies and sliding mode control, a survey," IEEE
Trans. Ind. Electron., vol. 48, no. 1, pp. 4-17, Feb. 2001.
[18] C. Hwang and C. Kuo, "A stable fuzzy sliding mode control for affine
nonlinear system with application to four-bar linkage system," IEEE
Trans. Fuzzy Syst., vol. 9, no. 2, pp. 238-252, Apr. 2001.
[19] B. K. Yoo and W. C. Ham, "Adaptive control of robot manipulator using
fuzzy compensator," IEEE Trans. Fuzzy Syst., vol. 8, no. 2, pp. 186-199,
2000.
[20] F. L. Lewis, C. T. Abdallah, and D. M. Dawson, Control of Robot
Manipulators. Macmillan New York, 1993.
[21] A. G. AK and G. Cansever, "Three link robot control with fuzzy sliding
mode controller based on RBF neural network," Proc. 2006 IEEE Int.
Symp. Intell. Contr., pp. 2719-2724, 2006,
[22] Y. Guo and P. Y. Woo, "An adaptive fuzzy sliding mode controller for
robotic manipulators," IEEE Trans. Syst. Man Cybern., vol. 33, no. 2,
149-159, 2003.
@article{"International Journal of Information, Control and Computer Sciences:62194", author = "T. C. Kuo", title = "Trajectory Control of a Robotic Manipulator Utilizing an Adaptive Fuzzy Sliding Mode", abstract = "In this paper, a novel adaptive fuzzy sliding mode
control method is proposed for the robust tracking control of robotic
manipulators. The proposed controller possesses the advantages of
adaptive control, fuzzy control, and sliding mode control. First, system
stability and robustness are guaranteed based on the sliding mode
control. Further, fuzzy rules are developed incorporating with
adaptation law to alleviate the input chattering effectively. Stability of
the control system is proven by using the Lyapunov method. An
application to a three-degree-of-freedom robotic manipulator is
carried out. Accurate trajectory tracking as well as robustness is
achieved. Input chattering is greatly eliminated.", keywords = "Fuzzy control, sliding mode control, roboticmanipulator, adaptive control.", volume = "4", number = "5", pages = "1007-5", }
