Adaptive Fuzzy Sliding Mode Control for a 3-DOF Parallel Manipulator with Parameters Uncertainties

Parallel manipulators possess the advantages of being compact structure, high stiffness, stability and high accuracy, so such parallel manipulators have been widely employed in application fields as diverse as parallel kinematic machine, motion simulator platform, medical rehabilitation device, and so on. Due to the complexity of the closed-loop structural system, an accurate dynamic model is very difficult to be derived in the absence of some uncertainties parameters and external disturbances. In order to improve the trajectory tracking accuracy with time-varying and nonlinear parameters, this paper addresses the design and implement of adaptive fuzzy sliding mode control (AFSMC) for a three-degree-of-freedom (DOF) parallel manipulator, where internal force term can be linearly separated into a regression matrix and a parameter vector that contains the estimated errors. Furthermore, fuzzy inference unit is utilized to modify the gain parameters in real-time by using the state feedback from the task space and the adaptive law is performed to update uncertainties in dynamic parameters. The proposed controller is deduced in the sense of Lyapunov theory to guarantee the stability while improving the trajectory tracking performance. Finally, simulation experiment results demonstrate that the proposed control method is insensitive to uncertainties and disturbances and permits to decrease the requirement for the bound of these uncertainties, which validate the effectiveness of the developed control method and exhibit good trajectory tracking performance compared with sliding mode control (SMC) and fuzzy sliding model control (FSMC).

[1]  Shuhuan Wen,et al.  An improved fuzzy model predictive control algorithm based on the force/position control structure of the five-degree of freedom redundant actuation parallel robot , 2018 .

[2]  C. Kao,et al.  Modified PSO Method for Robust Control of 3RPS Parallel Manipulators , 2010 .

[3]  Yuefa Fang,et al.  A class of novel 4-DOF and 5-DOF generalized parallel mechanisms with high performance , 2018 .

[4]  Hanlei Wang,et al.  Adaptive Control of Robot Manipulators With Uncertain Kinematics and Dynamics , 2014, IEEE Transactions on Automatic Control.

[5]  Bing-Shan Jiang,et al.  Dynamic Performance Evaluation of a Redundantly Actuated and Over-constrained Parallel Manipulator , 2018, Int. J. Autom. Comput..

[6]  Bin Wei,et al.  Convergence performance comparisons of PID, MRAC, and PID + MRAC hybrid controller , 2016 .

[7]  Zahari Taha,et al.  Design and development of a 6-DOF system for virtual bicycle simulator , 2016 .

[8]  Marina Valles,et al.  Adaptive control of a 3-DOF parallel manipulator considering payload handling and relevant parameter models , 2014 .

[9]  Shuang Cong,et al.  Nonlinear computed torque control for a high-speed planar parallel manipulator , 2009 .

[10]  Zhen Gao,et al.  Performance Analysis, Mapping, and Multiobjective Optimization of a Hybrid Robotic Machine Tool , 2015, IEEE Transactions on Industrial Electronics.

[11]  Bodo Heimann,et al.  Computational efficient inverse dynamics of 6-DOF fully parallel manipulators by using the Lagrangian formalism , 2009 .

[12]  Luca Carbonari.  Simplified approach for dynamics estimation of a minor mobility parallel robot , 2015 .

[13]  Yuan Ge,et al.  Adaptive computed torque control for a parallel manipulator with redundant actuation , 2011, Robotica.

[14]  Deyuan Meng,et al.  Adaptive Robust Posture Control of a 3-RPS Pneumatic Parallel Platform with Unknown Deadzone , 2016 .

[15]  John E. McInroy,et al.  Trajectory Tracking with Parallel Robots Using Low Chattering, Fuzzy Sliding Mode Controller , 2007, J. Intell. Robotic Syst..

[16]  Hu Shi,et al.  Modified Robust Dynamic Control for a Diamond Parallel Robot , 2019, IEEE/ASME Transactions on Mechatronics.

[17]  Amir Hossein Davaie Markazi,et al.  Position control of Stewart manipulator using a new extended adaptive fuzzy sliding mode controller and observer (E-AFSMCO) , 2018, J. Frankl. Inst..

[18]  Marc Gouttefarde,et al.  Adaptive Terminal Sliding Mode Control of a Redundantly-Actuated Cable-Driven Parallel Manipulator: CoGiRo , 2015 .

[19]  B. Dasgupta,et al.  A general strategy based on the Newton-Euler approach for the dynamic formulation of parallel manipulators , 1999 .

[21]  Jun Wu,et al.  Optimal design of a 2-DOF parallel manipulator with actuation redundancy considering kinematics and natural frequency , 2013 .

[22]  Linsen Xu,et al.  Adaptive fuzzy sliding mode controller with nonlinear observer for redundant manipulators handling varying external force , 2016 .

[23]  Beno Benhabib,et al.  A Review of Redundant Parallel Kinematic Mechanisms , 2017, J. Intell. Robotic Syst..

[24]  Aaron M. Dollar,et al.  Analyzing dexterous hands using a parallel robots framework , 2014, Auton. Robots.

[25]  Hsin-Han Chiang,et al.  Development and Control of a Pneumatic-Actuator 3-DOF Translational Parallel Manipulator with Robot Vision † , 2019, Sensors.

[26]  Hee-Jun Kang,et al.  Chattering-Free Neuro-Sliding Mode Control of 2-DOF Planar Parallel Manipulators , 2013 .

[27]  Dong Liang,et al.  Nonlinear dynamic modeling and performance analysis of a redundantly actuated parallel manipulator with multiple actuation modes based on FMD theory , 2017 .

[28]  Wei Li,et al.  Optimization Design by Genetic Algorithm Controller for Trajectory Control of a 3-RRR Parallel Robot , 2018, Algorithms.

[29]  Yangmin Li,et al.  Design and analysis of a novel 6-DOF redundant actuated parallel robot with compliant hinges for high precision positioning , 2010 .

[30]  Farzin Piltan,et al.  Design Sliding Mode Controller with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator , 2014 .

[31]  Ahmad Kalhor,et al.  An experimental dynamic identification & control of an overconstrained 3-DOF parallel mechanism in presence of variable friction and feedback delay , 2018, Robotics Auton. Syst..

[32]  Hongxing Wang,et al.  Adaptive fuzzy control for a class of unknown fractional-order neural networks subject to input nonlinearities and dead-zones , 2018, Inf. Sci..

[33]  Ivan Buzurovic.  Advanced Control Methodologies in Parallel Robotic Systems , 2012, ICRA 2012.

[34]  Zhijiang Du,et al.  A universal index and an improved PSO algorithm for optimal pose selection in kinematic calibration of a novel surgical robot , 2018 .

[35]  Stéphane Caro,et al.  Error Modeling and Experimental Validation of a Planar 3-PPR Parallel Manipulator With Joint Clearances , 2012 .

[36]  Y. Su,et al.  Nonlinear PID control of a six-DOF parallel manipulator , 2004 .

[37]  Indra Narayan Kar,et al.  Adaptive–Robust Control of Euler–Lagrange Systems With Linearly Parametrizable Uncertainty Bound , 2017, IEEE Transactions on Control Systems Technology.

[38]  Roque Saltaren,et al.  Robot based on task-space dynamical model , 2011 .

[39]  Dan Zhang,et al.  Forward Kinematics and Workspace Determination of a Novel Redundantly Actuated Parallel Manipulator , 2019, International Journal of Aerospace Engineering.

[40]  Hamid D. Taghirad,et al.  Adaptive Control of KNTU Planar Cable-Driven Parallel Robot with Uncertainties in Dynamic and Kinematic Parameters , 2015 .

[41]  Haoyong Yu,et al.  Composite Learning Robot Control With Friction Compensation: A Neural Network-Based Approach , 2019, IEEE Transactions on Industrial Electronics.

[42]  Shun-Feng Su,et al.  Adaptive Chattering Free Neural Network Based Sliding Mode Control for Trajectory Tracking of Redundant Parallel Manipulators , 2018 .