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Adaptive Fuzzy PID Sliding Mode Controller of Uncertain Robotic Manipulator

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Intelligent Computing Theories and Methodologies (ICIC 2015)

Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 9226))

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Abstract

This paper presents a novel adaptive fuzzy sliding mode controller (AFSMC) that combines a PID sliding mode control (SMC) and adaptive fuzzy control (AFC) for robotic manipulator in the presence of uncertainties and external disturbances. First, the controller is developed based on PID sliding mode framework. Then, two fuzzy logic systems are applied, a fuzzy logic system is used to replace the discontinuous control term, and an adaptive fuzzy inference engine is utilized to approximate the unknown term in the equivalent control part of SMC. Thus, the system not only can handle the large uncertainties and does not require the knowledge of their upper bounds to be known in advance, but can also attenuate the chattering phenomenon in conventional SMC without degrading the system robustness. Finally, the simulation results of a two-link robot manipulator are presented to demonstrate the effectiveness of the proposed control method.

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Acknowledgment

Following are results of a study on the “Leaders Industry-university Cooperation” Project, supported by the Ministry of Education(MOE).

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Authors and Affiliations

  1. Graduate School of Electrical Engineering, University of Ulsan, Ulsan, 680-749, South Korea

    Minh-Duc Tran

  2. School of Electrical Engineering, University of Ulsan, Ulsan, 680-749, South Korea

    Hee-Jun Kang

Authors
  1. Minh-Duc Tran
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  2. Hee-Jun Kang
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Corresponding author

Correspondence to Hee-Jun Kang .

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Editors and Affiliations

  1. Tongji University, Shanghai, China

    De-Shuang Huang

  2. University of Ulsan, Ulsan, Korea (Republic of)

    Kang-Hyun Jo

  3. Liverpool John Moores University, Liverpool, United Kingdom

    Abir Hussain

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Tran, MD., Kang, HJ. (2015). Adaptive Fuzzy PID Sliding Mode Controller of Uncertain Robotic Manipulator. In: Huang, DS., Jo, KH., Hussain, A. (eds) Intelligent Computing Theories and Methodologies. ICIC 2015. Lecture Notes in Computer Science(), vol 9226. Springer, Cham. https://doi.org/10.1007/978-3-319-22186-1_9

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  • DOI: https://doi.org/10.1007/978-3-319-22186-1_9

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-22185-4

  • Online ISBN: 978-3-319-22186-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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