Design of a Sliding Mode Controller with Fuzzy Rules for a 4-DoF Service Robot

Bao, Le; Kim, Dong-Eon; Yi, Seung‐Joon; Lee, Jang-Myung

doi:10.1007/s12555-020-0452-3

Cited by 17 publications

(4 citation statements)

References 21 publications

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“…The resolution of this motor is 4096 pulse per revolution. The Dynamixel U2D2 [54] is employed to communicate the computer and two motors. A 12-voltage direct current power supply is selected for this robot system.…”

Section: Experimental Studymentioning

confidence: 99%

Design and Kinematic Analysis of a Novel Planar Parallel Robot With Pure Translations

Zou,

Yi,

Zhang

et al. 2024

IEEE Access

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The structural synthesis of a group of parallel mechanisms can be established by an exhaustive enumeration of all feasible kinematic chains based on the screw theory. However, reliable kinematic limbs can provide mobility constraints for some unqualified supporting legs to guarantee the degrees-of-freedom feasibility of the parallel robots. A systematic design approach is presented for a family of planar single-loop parallel mechanisms with the consideration of infeasible kinematic chains. Different from the other design approaches for single-loop linkages, the fixed and moving platforms are predefined in this research to distinguish different kinematic limbs. The special parallelogram linkage mechanism is incorporated due to its equivalent translation capacity. Three categories of singularity configurations are investigated based on the detailed kinematic models. The reachable workspace is obtained through the spatial search methodology. Several novel kinematic error model associated performance indices are proposed in this work and examined on a translational parallel manipulator. Experiments are carried out and compared to testify the effectiveness of the kinematic analysis and proposed position-based controller.

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Section: Experimental Studymentioning

confidence: 99%

Design and Kinematic Analysis of a Novel Planar Parallel Robot With Pure Translations

Zou,

Yi,

Zhang

et al. 2024

IEEE Access

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“…The right control law selection also enables the system to maintain a sliding surface in the presence of both internal and external disturbances. However, the standard SMC design results in chattering, which cannot be used in actual applications (Bao et al, 2021). Under the cover of susceptibilities, SMC may produce an unexpected strength with complete evidence about the asymptotic soundness of the framework.…”

Section: Sliding Mode Controllermentioning

confidence: 99%

“…But most industries are facing the controlling manipulator precisely, which is a challenging task. Around the world, many researchers developed different control algorithms such as PID, SMC, versatile control, fuzzy control, and neural network control for achieving the task in a precise manner (Bao et al, 2021). Later on, researchers developed a fuzzy PID controller for the 2-DOF manipulator, and they compared it with the SMC controllers using sim mechanics.…”

Section: Introductionmentioning

confidence: 99%

Design of PID, FLC and Sliding Mode Controller for 2-DOF Robotic Manipulator: A Comparative Study

Tomar

Mandava²,

Hemalatha³

et al. 2023

Int. j. math. eng. manag. sci.

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Controlling the manipulators in a precise manner is a challenging task. To overcome this difficulty around the world, many researchers have developed various control algorithms but are not providing optimal results. To obtain the optimal results in the current research the authors designed a proportional, integral, and derivative (PID) controller, fuzzy logic controller (FLC), and sliding mode controller (SMC) for a 2-DOF manipulator. The concept of forward and inverse kinematics was initially solved after assigning the D-H parameters for each joint. The purpose of forward or direct kinematics is to obtain the position and orientation of the end effector. Further, the concept of inverse kinematics is used to estimate the joint angles. Later on, the Lagrange-Euler formulation was used to calculate the dynamics of the 2-DOF manipulator, which is required to estimate the torque required for each joint of the robotics arm. The main goal of this research problem is to optimize the angular error between the two successive events. Finally, the developed algorithm is compared with the existing algorithms such as PID and Fuzzy logic controller.

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“…Too much value of gain will lead to frequent switching and affect the control effect. Fuzzy rules were used to select this value according to the deviation 28 . Fuzzy rules were applied to the cooperative control system of multiple independent robots to arbitrate and balance the conflicts between robots 29 .…”

Section: Introductionmentioning

confidence: 99%

Research on the characteristics of electro-hydraulic position servo system of RBF neural network under fuzzy rules

Li,

2024

Sci Rep

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A radial basis function neural network PID controller under fuzzy rules (FUZZY-RBF-PID) was designed for the electro-hydraulic position servo system under the influence of uncertain factors such as load mutation, and load stiffness change. Firstly, the mathematical model of the system is established, and the frequency domain and time domain analysis of the system are carried out. Secondly, based on the analysis results, a radial basis function (RBF) neural network PID controller is designed, and fuzzy rules are innovatively used to adjust the learning rate of PID parameters in the RBF neural network learning algorithm in real time. Thirdly, the simulation results show that under the action of the FUZZY-RBF-PID controller, the unit step response of the system has high steady-state accuracy, fast response speed, and under the condition of large load stiffness, the system can recover to the steady-state value faster after being disturbed. At the same time, when the input signal is the sinusoidal signal of 10 HZ, the system under the action of the FUZZY-RBF-PID controller has no obvious phase lag phenomenon, and the tracking error is minimal. The proposed method can effectively improve the comprehensive performance of the electro-hydraulic position servo system under the influence of uncertain factors.

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Design of a Sliding Mode Controller with Fuzzy Rules for a 4-DoF Service Robot

Cited by 17 publications

References 21 publications

Design and Kinematic Analysis of a Novel Planar Parallel Robot With Pure Translations

Design and Kinematic Analysis of a Novel Planar Parallel Robot With Pure Translations

Design of PID, FLC and Sliding Mode Controller for 2-DOF Robotic Manipulator: A Comparative Study

Research on the characteristics of electro-hydraulic position servo system of RBF neural network under fuzzy rules

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