Farzin Piltan; AliReza Nabaee; MohammadMahdi Ebrahimi; Mansour Bazregar

Design Robust Fuzzy Sliding Mode Control Technique for Robot Manipulator Systems with Modeling Uncertainties

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Author(s)

Farzin Piltan ^1,* AliReza Nabaee ¹ MohammadMahdi Ebrahimi ¹ Mansour Bazregar ¹

1. Industrial Electrical and Electronic Engineering SanatkadeheSabze Pasargad. CO (S.S.P. Co), NO:16 , PO.Code 71347- 66773, Fourth floor , Dena Apr , Seven Tir Ave , Shiraz , Iran

* Corresponding author.

DOI: https://doi.org/10.5815/ijitcs.2013.08.12

Received: 23 Oct. 2012 / Revised: 13 Mar. 2013 / Accepted: 2 May 2013 / Published: 8 Jul. 2013

Index Terms

Sliding Mode Control, Fuzzy Logic Methodology, Robust Controller, Hyper-Redundant, Continuum Robot Manipulator

Abstract

This paper describes the design and implementation of robust nonlinear sliding mode control strategies for robot manipulators whose dynamic or kinematic models are uncertain. Therefore a fuzzy sliding mode tracking controller for robot manipulators with uncertainty in the kinematic and dynamic models is design and analyzes. The controller is developed based on the unit quaternion representation so that singularities associated with the otherwise commonly used three parameter representations are avoided. Simulation results for a planar application of the continuum or hyper-redundant robot manipulator (CRM) are provided to illustrate the performance of the developed adaptive controller. These manipulators do not have rigid joints, hence, they are difficult to model and this leads to significant challenges in developing high-performance control algorithms. In this research, a joint level controller for continuum robots is described which utilizes a fuzzy methodology component to compensate for dynamic uncertainties.

Cite This Paper

Farzin Piltan, AliReza Nabaee, MohammadMahdi Ebrahimi, Mansour Bazregar, "Design Robust Fuzzy Sliding Mode Control Technique for Robot Manipulator Systems with Modeling Uncertainties", International Journal of Information Technology and Computer Science(IJITCS), vol.5, no.8, pp.123-135, 2013. DOI:10.5815/ijitcs.2013.08.12

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[26]Farzin Piltan, N. Sulaiman, Iraj Asadi Talooki, Payman Ferdosali, “Control of IC Engine: Design a Novel MIMO Fuzzy Backstepping Adaptive Based Fuzzy Estimator Variable Structure Control ,” International Journal of Robotics and Automation, 2 (5):360-380, 2011.

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[30]Farzin Piltan, SH. Tayebi HAGHIGHI, N. Sulaiman, Iman Nazari, Sobhan Siamak, “Artificial Control of PUMA Robot Manipulator: A-Review of Fuzzy Inference Engine And Application to Classical Controller ,” International Journal of Robotics and Automation, 2 (5):401-425, 2011.

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[55]Farzin Piltan, S. Emamzadeh, Z. Hivand, F. Shahriyari & Mina Mirazaei . ” PUMA-560 Robot Manipulator Position Sliding Mode Control Methods Using MATLAB/SIMULINK and Their Integration into Graduate/Undergraduate Nonlinear Control, Robotics and MATLAB Courses” International Journal of Robotics and Automation, 3(3): 106-150,2012.

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International Journal of Information Technology and Computer Science (IJITCS)