Title: Adaptive fuzzy sliding mode control algorithm simulation for 2-DOF articulated robot

Authors: Feng Du; Ying Sun; Gongfa Li; Guozhang Jiang; Jianyi Kong; Du Jiang; Zhe Li

Addresses: Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China; Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan 430081, China ' Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China; Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan 430081, China ' Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China; Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan 430081, China ' Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China; Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan 430081, China ' Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China; Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan 430081, China ' Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China; Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan 430081, China ' Wuhan Ship Development Design Institute, Wuhan 430060, China

Abstract: About articulated robot's control, chattering phenomenon existed in conventional sliding mode algorithm. Therefore a robotic adaptive fuzzy sliding mode control algorithm is also proposed. This kind of algorithm is designed as an adaptive single input and output fuzzy system to calculate the control gain. Meanwhile, the mathematical proof is carried out on system's stability and astringency by Lyapunov theory's adaptive law. The adaptive fuzzy sliding mode control is simulated in Simulink, the simulation results show that when the chattering becomes weaker, the function of the system is promoted. Fuzzy sliding mode controller can be changed and adjusted with the transformation of system's state. Steady-state convergence is constant, adaptive fuzzy sliding mode control algorithm still with a good robustness under the condition that articulated robot's parameters uncertain and external interference.

Keywords: adaptive fuzzy sliding mode control; articulated robot; chattering phenomena; position tracking.

DOI: 10.1504/IJWMC.2017.089324

International Journal of Wireless and Mobile Computing, 2017 Vol.13 No.4, pp.306 - 313

Received: 04 Jul 2017
Accepted: 18 Aug 2017
Published online: 17 Jan 2018 *

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