Position control of robot manipulator: Design a novel SISO adaptive sliding mode fuzzy PD fuzzy sliding mode control.

This research focuses on design Single Input Single Output (SISO) adaptive sliding mode fuzzy PD fuzzy sliding mode algorithm with estimates the equivalent part derived in the Lyapunov sense. The stability of the closed-loop system is proved mathematically based on the Lyapunov method. Proposed method introduces a SISO fuzzy system to compensate for the model uncertainties of the system and eliminate the chattering by linear boundary layer method. This algorithm is used a SISO fuzzy system to alleviate chattering and to estimate the control gain in the control law and presented a scheme to online tune of sliding function. To attenuate the chattering phenomenon this method developed a linear boundary layer and the parameter of the sliding function is online tuned by adaptation laws. This algorithm will be analyzed and evaluated on robotic manipulators and design adaption laws of adaptive algorithms after that writing Lyapunov function candidates and prove the asymptotic convergence of the closed-loop system using Lyapunov stability theorem mathematically. Compare and evaluate proposed method and sliding mode algorithms under disturbance. In regards to the former, we will be looking at the availability of online tuning methodology and the number of fuzzy if-then rules inherent to the fuzzy system being used and the corresponding computational load. Our analysis of the results will be limited to tracking accuracy and chattering.

[1]  Hyun-Sik Ahn,et al.  Sliding mode-like fuzzy logic control with self-tuning the dead zone parameters , 2001, IEEE Trans. Fuzzy Syst..

[2]  N. Olgac,et al.  A comparative study on simulations vs. experiments of SMCPE , 1994, Proceedings of 1994 American Control Conference - ACC '94.

[3]  Chuen-Chien Lee,et al.  Fuzzy logic in control systems: fuzzy logic controller. II , 1990, IEEE Trans. Syst. Man Cybern..

[4]  Constantine H. Houpis,et al.  Linear Control System Analysis and Design with MATLAB , 2013 .

[5]  Byung Kook Yoo,et al.  Adaptive control of robot manipulator using fuzzy compensator , 2000, IEEE Trans. Fuzzy Syst..

[6]  Nabil Derbel,et al.  A decoupled fuzzy indirect adaptive sliding mode controller with application to robot manipulator , 2006, Int. J. Model. Identif. Control..

[7]  Chih-Min Lin,et al.  Adaptive fuzzy sliding-mode control for induction servomotor systems , 2004, IEEE Transactions on Energy Conversion.

[8]  Ya-Chen Hsu,et al.  Fuzzy variable structure control for MIMO systems , 1998, 1998 IEEE International Conference on Fuzzy Systems Proceedings. IEEE World Congress on Computational Intelligence (Cat. No.98CH36228).

[9]  Abdul Rahman Ramli,et al.  Design adaptive fuzzy robust controllers for robot manipulator , 2011 .

[10]  R. Shahnazi,et al.  Position control of induction and DC servomotors: a novel adaptive fuzzy PI sliding mode control , 2006 .

[11]  Li-Chen Fu,et al.  Nonlinear control of robot manipulators using adaptive fuzzy sliding mode control , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[12]  Derong Liu,et al.  Multi-Agent Based Adaptive Consensus Control for Multiple Manipulators with Kinematic Uncertainties , 2008, 2008 IEEE International Symposium on Intelligent Control.

[13]  Heinz Unbehauen,et al.  An adaptive fuzzy sliding-mode controller , 2001, IEEE Trans. Ind. Electron..

[14]  Peng-Yung Woo,et al.  An adaptive fuzzy sliding mode controller for robotic manipulators , 2003, IEEE Trans. Syst. Man Cybern. Part A.

[15]  Brian W. Surgenor,et al.  Experimental evaluation of the robustness of discrete sliding mode control versus linear quadratic control , 1997, IEEE Trans. Control. Syst. Technol..

[16]  Abdul Rahman Ramli,et al.  A model-free robust sliding surface slope adjustment in sliding mode control for robot manipulator , 2011 .

[17]  M. Rouhani,et al.  A novel neuro-based model reference adaptive control for a two link robot arm , 2002, Proceedings of the 2002 International Joint Conference on Neural Networks. IJCNN'02 (Cat. No.02CH37290).

[18]  O. Kaynak,et al.  Guest editorial special section on computationally intelligent methodologies and sliding-mode control , 2001 .

[19]  Keding Zhao,et al.  An integral variable structure controller with fuzzy tuning design for electro-hydraulic driving Stewart platform , 2006, 2006 1st International Symposium on Systems and Control in Aerospace and Astronautics.

[20]  Farzin Piltan,et al.  Design Mathematical Tunable Gain PID-Like Sliding Mode Fuzzy Controller with Minimum Rule base. , 2011 .

[21]  Bruno,et al.  Springer Handbook of Robotics || Rehabilitation and Health Care Robotics , 2008 .

[22]  R. Decarlo,et al.  Variable structure control of nonlinear multivariable systems: a tutorial , 1988, Proc. IEEE.

[23]  Farzin Piltan,et al.  Design of FPGA-based Sliding Mode Controller for Robot Manipulator. , 2011 .

[24]  N. Pariz,et al.  Position control of induction and DC servomotors: a novel adaptive fuzzy PI sliding mode control , 2006, 2006 IEEE Power Engineering Society General Meeting.

[25]  Rong-Jong Wai,et al.  Implementation of artificial intelligent control in single-link flexible robot arm , 2003, Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No.03EX694).

[26]  Zdenko Kovacic,et al.  Fuzzy Controller Design: Theory and Applications , 2005 .

[27]  Leopoldo García Franquelo,et al.  Speed control of induction motors using a novel fuzzy sliding-mode structure , 2002, IEEE Trans. Fuzzy Syst..

[28]  Y.F. Wang,et al.  Robust adaptive fuzzy observer design in robot arms , 2004, 2004 5th Asian Control Conference (IEEE Cat. No.04EX904).

[29]  Jean-Jacques E. Slotine,et al.  Sliding controller design for non-linear systems , 1984 .

[30]  Wen-June Wang,et al.  Self-tuning sliding mode controller design for a class of nonlinear control systems , 2008, 2008 IEEE International Conference on Systems, Man and Cybernetics.

[31]  Wen-Shyong Yu,et al.  Adaptive fuzzy sliding mode control for linear time-varying uncertain systems , 2008, 2008 IEEE International Conference on Fuzzy Systems (IEEE World Congress on Computational Intelligence).

[32]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[33]  Hakan Elmali,et al.  Implementation of sliding mode control with perturbation estimation (SMCPE) , 1996, IEEE Trans. Control. Syst. Technol..

[34]  J. J. Slotine,et al.  Tracking control of non-linear systems using sliding surfaces with application to robot manipulators , 1983, 1983 American Control Conference.

[35]  Andrew A. Goldenberg,et al.  Development of a systematic methodology of fuzzy logic modeling , 1998, IEEE Trans. Fuzzy Syst..

[36]  Okyay Kaynak,et al.  Neuro sliding mode control of robotic manipulators , 2000 .

[37]  Chih-Lyang Hwang,et al.  A fuzzy-model-based variable structure control for robot arms: theory and experiments , 2004, 2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. No.04CH37583).

[38]  Lotfi A. Zadeh,et al.  Toward a theory of fuzzy information granulation and its centrality in human reasoning and fuzzy logic , 1997, Fuzzy Sets Syst..

[39]  김병국,et al.  A Study on the Design of Self-tuning Sliding Mode Fuzzy Controller , 1994 .

[40]  V. Utkin.  Variable structure systems with sliding modes , 1977 .

[41]  Vadim I. Utkin,et al.  A control engineer's guide to sliding mode control , 1999, IEEE Trans. Control. Syst. Technol..

[42]  Fumio Harashima,et al.  Practical robust control of robot arm using variable structure system , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[43]  Mo Jamshidi,et al.  Soft computing for autonomous robotic systems , 2000 .

[44]  Peng-Yung Woo,et al.  Fuzzy logic control of robot manipulator , 1993, Proceedings of IEEE International Conference on Control and Applications.

[45]  J. Zhou,et al.  Fuzzy control of robots , 1992, [1992 Proceedings] IEEE International Conference on Fuzzy Systems.

[46]  Sudeept Mohan,et al.  Comparative Study of Some Adaptive Fuzzy Algorithms for Manipulator Control , 2007 .

[47]  Chiang-Cheng Chiang,et al.  Observer-Based Adaptive Fuzzy Sliding Mode Control of Uncertain Multiple-Input Multiple-Output Nonlinear Systems , 2007, 2007 IEEE International Fuzzy Systems Conference.

[48]  Y. T. Kim.  Independent Joint Adaptive Fuzzy Control of Robot Manipulator , 2005, Intell. Autom. Soft Comput..

[49]  R. Palm,et al.  Sliding mode fuzzy control , 1992, [1992 Proceedings] IEEE International Conference on Fuzzy Systems.

[50]  Rong-Jong Wai,et al.  Intelligent optimal control of single-link flexible robot arm , 2004, IEEE Transactions on Industrial Electronics.

[51]  H. Temeltas.  A fuzzy adaptation technique for sliding mode controllers , 1998, IEEE International Symposium on Industrial Electronics. Proceedings. ISIE'98 (Cat. No.98TH8357).

[52]  Hongye Su,et al.  Adaptive sliding mode-like fuzzy logic control for high order nonlinear systems , 2003, Proceedings of the 2003 IEEE International Symposium on Intelligent Control.

[53]  Farzin Piltan,et al.  Artificial Control of Nonlinear Second Order Systems Based on AFGSMC , 2011 .

[54]  Masayoshi Tomizuka,et al.  Chattering reduction and error convergence in the sliding-mode control of a class of nonlinear systems , 1996, IEEE Trans. Autom. Control..

[55]  Ahmad B. Rad,et al.  Indirect adaptive fuzzy sliding mode control: Part I: fuzzy switching , 2001, Fuzzy Sets Syst..

[56]  Qingsong Xu,et al.  Adaptive Sliding Mode Control With Perturbation Estimation and PID Sliding Surface for Motion Tracking of a Piezo-Driven Micromanipulator , 2010, IEEE Transactions on Control Systems Technology.

[57]  Chin-Gook Lhee,et al.  Sliding-like fuzzy logic control with self-tuning the dead zone parameters , 1999, FUZZ-IEEE'99. 1999 IEEE International Fuzzy Systems. Conference Proceedings (Cat. No.99CH36315).

[58]  Farzin Piltan,et al.  Design artificial robust control of second order system based on adaptive fuzzy gain scheduling , 2011 .

[59]  Farzin Piltan,et al.  Design Artificial Nonlinear Robust Controller Based on CTLC and FSMC With Tunable Gain. , 2011 .

[60]  Leonid M. Fridman,et al.  Analysis of Chattering in Systems With Second-Order Sliding Modes , 2007, IEEE Transactions on Automatic Control.

[61]  Chuen-Chien Lee,et al.  Fuzzy logic in control systems: fuzzy logic controller. I , 1990, IEEE Trans. Syst. Man Cybern..