ADAPTIVE FUZZY SLIDING MODE CONTROL FOR DUAL ARM ROBOTS

Giang Truong Nguyen, Lam Thanh Bui, Minh Tan Cao, Hung Viet Pham, Hien Minh Dao, Tai The Phung, Quan Hai Pham, Hai Xuan Le

Abstract


From the demand of flexibility in industrial manufacture, dual arm robots develop more and more diverse. Dual arm robots are now applied in many fields: Physics, Mechanics, Teecommunication, Automobile Industry, and Military. In this study, the model is a dual-arm, 4-DOF robot and the joints of the robot are R-type joint (Revolute joint), which has rotating axis perpendicular to two axes of the arms. We designed an adaptive fuzzy sliding mode controller for this robot model. In sliding mode control, there are many unknown parameters which are important for the stability of the system. For determining them, a fuzzy logic system is designed to achieve the desired results

Full Text:

Pdf

References


F. Piltan, A. Jahed, H. Rezaie, and B. Boroomand, “Methodology of Robust Linear On-line High Speed Tuning for Stable Sliding Mode Controller: Applied to Nonlinear System,” Int. J. Control Autom., vol. 5, no. 3, p. 20, 2012.

N. Yagiz, Y. Hacioglu, and Y. Z. Arslan, “Load transportation by dual arm robot using sliding mode control,” J. Mech. Sci. Technol., vol. 24, no. 5, pp. 1177–1184, May 2010.

Y. Hacioglu, Y. Z. Arslan, and N. Yagiz, “MIMO fuzzy sliding mode controlled dual arm robot in load transportation,” J. Frankl. Inst., vol. 348, no. 8, pp. 1886– 1902, Oct. 2011.

P.-H. Chou, C.-S. Chen, and F.-J. Lin, “DSP-based synchronous control of dual linear motors via Sugeno type fuzzy neural network compensator,” J. Frankl. Inst., vol. 349, no. 3, pp. 792–812, Apr. 2012.

F. Piltan, S. Siamak, M. A. Bairami, and I. Nazari, “Gradient Descent Optimal Chattering Free Sliding Mode Fuzzy Control Design: Lyapunov Approach,” Int. J. Adv. Sci. Technol., vol. 45, p. 18, 2012.


Refbacks



Indexed by: Google Scholar.

Lớp dạy vẽ ở Mỹ Đình