Fuzzy Adaptive Synchronized Sliding Mode Control Of Parallel Manipulators

Le, Tien Dung; Doan, Quang Vinh

doi:10.1145/3191477.3199060

Cited by 3 publications

(3 citation statements)

References 12 publications

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“…The following torque command is constructed as in [69] to obtain the desired tracking performance for robotic manipulator of Eq. (1): τ a =Mq ra (t) +Ĉ aqra − ϒσ − ( + ξ ) sgn (σ ) (51) The BLT was performed to substitute the discontinuous component in the torque action.…”

Section: Appendix B Design Of the Ssmcmentioning

confidence: 99%

Neural Integral Non-Singular Fast Terminal Synchronous Sliding Mode Control for Uncertain 3-DOF Parallel Robotic Manipulators

2020

IEEE Access

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Robotics have been substituting humans increasingly and effectively to operate repeated, dangerous, heavy, complicated works in human life, production industry, and discovery missions. This work designs a Neural Integral Non-singular Fast Terminal Synchronous Sliding Mode Control (NINFTSSMC) approach for 3-DOF parallel robotic manipulators with uncertain dynamics, using synchronous nonlinear sliding surface, where this sliding surface is formed through the integration of the Synchronization Control (SC) and the Integral Non-singular Fast Terminal Sliding Mode Control (INFTSMC). Accordingly, position errors and synchronization errors quickly converge to the sliding surface at the same time. Next, a Feed-Forward Neural Network (FNN) is applied to estimate uncertain dynamics, whose novelty, compared to a classic FNN, is that they utilize a Non-singular Fast Terminal Sliding Mode (NFTSM) error filter to replace a classic error filter. Thanks to this procedure, the lumped uncertain dynamics are compensated more quickly and more accurately, thus, the malfunction in the reaching phase of state variables approaching the sliding surface is handled thoroughly. Finally, the control approach is designed for a robotic system to achieve the prescribed performance, obtaining rapid error convergence, robustness with uncertain dynamics, minimum chattering, synchronization, and high precision. The stability of the control loop is secured according to the Lyapunov theory. To test the robustness and confirm the effectiveness of the suggested controller for a 3-DOF parallel manipulator, computer simulations and performance comparisons are conducted. INDEX TERMS Synchronization control, integral terminal sliding mode control, parallel robotic manipulator, feed forward neural network.

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Section: Appendix B Design Of the Ssmcmentioning

confidence: 99%

Neural Integral Non-Singular Fast Terminal Synchronous Sliding Mode Control for Uncertain 3-DOF Parallel Robotic Manipulators

2020

IEEE Access

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“…In [22], an adaptive sliding mode controller using a time delay estimation technique was proposed, where the adaptive law considers an arbitrarily small neighborhood of the sliding surface, which gives the ability to adapt quickly and reduce chattering. In [23], an adaptive synchronous sliding controller for parallel robots was proposed, in which the uncertainty components and switching components of the controller are approximated by fuzzy logic. The adaptive sliding controller combines low-pass filtering and super-convolutional algorithms used in [24] to eliminate chattering, but the algorithm only applies to a class of nonlinear systems.…”

Section: Introductionmentioning

confidence: 99%

“…This reduces the complexity of NN, making the calculation process more efficient. Unlike [23], the proposed controller uses an NN network to approximate the completely unknown nonlinear component instead of only approximating the uncertain components. Furthermore, the proposed controller uses fuzzy logic to reduce chattering significantly compared to the controllers in [15], [16], [21], [23].…”

Section: Introductionmentioning

confidence: 99%

Adaptive synchronous sliding control for a robot manipulator based on neural networks and fuzzy logic

Nguyen Duc,

Vu Viet

2024

IJECE

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Robot manipulators have become important equipment in production lines, medical fields, and transportation. Improving the quality of trajectory tracking for robot hands is always an attractive topic in the research community. This is a challenging problem because robot manipulators are complex nonlinear systems and are often subject to fluctuations in loads and external disturbances. This article proposes an adaptive synchronous sliding control scheme to improve trajectory tracking performance for a robot manipulator. The proposed controller ensures that the positions of the joints track the desired trajectory, synchronize the errors, and significantly reduces chattering. First, the synchronous tracking errors and synchronous sliding surfaces are presented. Second, the synchronous tracking error dynamics are determined. Third, a robust adaptive control law is designed, the unknown components of the model are estimated online by the neural network, and the parameters of the switching elements are selected by fuzzy logic. The built algorithm ensures that the tracking and approximation errors are ultimately uniformly bounded (UUB). Finally, the effectiveness of the constructed algorithm is demonstrated through simulation and experimental results. Simulation and experimental results show that the proposed controller is effective with small synchronous tracking errors, and the chattering phenomenon is significantly reduced.

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Synchronization Full-Order Terminal Sliding Mode Control for an Uncertain 3-DOF Planar Parallel Robotic Manipulator

Doan

2019

Applied Sciences

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The control of a parallel robotic manipulator with uncertain dynamics is a noteworthy challenge due to the complicated dynamic model; multi-closed-loop chains; and singularities. This study develops a Synchronization Full-Order Terminal Sliding Mode Control (S-FOTSMC) for a 3-DOF planar parallel robotic manipulator with uncertain dynamics. First, to achieve faster convergence of position error and synchronization error variables with minimum values at the same time, a Synchronization Full-Order Terminal Sliding Mode Surface (S-FOTSMS) is constructed in the cross-coupling error’s state space. Next; an integral of the switching control term is applied; that means, a continuous control term is extended for rejecting the effects of chattering. Finally, an SFOTSMC is designed to guarantee that sliding mode motion will occur. Consequently, the stability and the robustness of the proposed method are secured with high-performance irrespective of the influences of uncertain terms in the robot system. The simulation performances show the effectiveness of our proposed system for position tracking control of a 3-DOF planar parallel robotic manipulator.

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Fuzzy Adaptive Synchronized Sliding Mode Control Of Parallel Manipulators

Cited by 3 publications

References 12 publications

Neural Integral Non-Singular Fast Terminal Synchronous Sliding Mode Control for Uncertain 3-DOF Parallel Robotic Manipulators

Neural Integral Non-Singular Fast Terminal Synchronous Sliding Mode Control for Uncertain 3-DOF Parallel Robotic Manipulators

Adaptive synchronous sliding control for a robot manipulator based on neural networks and fuzzy logic

Synchronization Full-Order Terminal Sliding Mode Control for an Uncertain 3-DOF Planar Parallel Robotic Manipulator

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