Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 30840
Trajectory Control of a Robotic Manipulator Utilizing an Adaptive Fuzzy Sliding Mode

Authors: T. C. Kuo


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: Adaptive Control, Fuzzy Control, Sliding Mode Control, roboticmanipulator

Digital Object Identifier (DOI):

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1619


[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.