Design of a robust adaptive sliding mode control using recurrent fuzzy wavelet functional link neural networks for industrial robot manipulator with dead zone

Quỳnh, Nguyễn Thị; Wang, Nan; Yen, Vu Thi

doi:10.1007/s11370-019-00300-y

Cited by 13 publications

(7 citation statements)

References 29 publications

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“…The residual dynamics (7) has the property that is defined in (9) and it satisfies the inequality in (10) [1]: h(0, 0) = 0,…”

Section: Dynamics Of Robot Manipulators With Rigid Linksmentioning

confidence: 99%

“…Adaptive and recursive neural networks have also been applied to the task of motion tracking in robots, as in [9], where a robust adaptive Recurrent Fuzzy Wavelet Functional Link Neural Network (RFWFLNNs) that was based on dead zone compensator for Industrial Robot Manipulators was presented. The paper presents an extensive stability analysis, using Lyapunov, Lasalle invariance theorem, and Barbalatś Lemma.…”

Section: Introduction 1motivationmentioning

confidence: 99%

“…From all of the previous references, we can conclude that either the work presented is only applicable to the plant for which they are making the design of the controller, as in [6][7][8], or the controller requires such extensive computing [9] that makes it prohibitive its application in typical industrial robot manipulators, or it could be applied to robots if their work can be extended to more than one link [11]. Additionally, in only half of the papers, a full stability analysis was presented, and none of the previous works have found a strict Lyapunov function for the stability analysis of its control approach.…”

Section: Introduction 1motivationmentioning

confidence: 99%

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Sectorial Fuzzy Controller Plus Feedforward for the Trajectory Tracking of Robotic Arms in Joint Space

et al. 2021

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In this paper, we propose a Sectorial Fuzzy Controller (SFC) with a feedforward compensation of the robot dynamics in joint space, evaluated at the desired angular positions, velocities, and accelerations, applied to the trajectory tracking of all revolute joints robotic arms. Global uniform asymptotic stability proof applying the direct Lyapunov theorem, is introduced for this new control scheme by using a strict Lyapunov function. This strict Lyapunov function is the first one within the field of fuzzy control that is applied to the trajectory control of robotic manipulators. With this strict Lyapunov function, a sensitivity analysis was also computed for this novel control scheme. Additionally, physical and simulation experimental results are given in comparison to the original control scheme, in which this new controller is inspired: the Proportional-Derivative (PD) controller plus feedforward compensation. The experimental results yielded better performance for the new fuzzy control scheme when compared to the classical structure, in both the joint position errors for similar or smaller values of applied torques, showing the expected tolerance to parametric deviations and uncertainties that all fuzzy controllers possess.

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“…The residual dynamics (7) has the property that is defined in (9) and it satisfies the inequality in (10) [1]: h(0, 0) = 0,…”

Section: Dynamics Of Robot Manipulators With Rigid Linksmentioning

confidence: 99%

Section: Introduction 1motivationmentioning

confidence: 99%

Section: Introduction 1motivationmentioning

confidence: 99%

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Sectorial Fuzzy Controller Plus Feedforward for the Trajectory Tracking of Robotic Arms in Joint Space

et al. 2021

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“…From the above analysis, we propose an adaptive synchronous sliding controller (ASSC) for a robot manipulator based on NN and fuzzy logic, in which NN is used to approximate the unknown nonlinear function, and fuzzy logic is used to eliminate the chattering phenomenon. The main contributions of the article are summarized as follows: i) different from [13]- [18], [21], the proposed controller considers synchronous error to increase the accuracy of the robot's motion trajectory and make the robot operate more smoothly. The proposed controller ensures that the positions of the joints track the desired trajectory and synchronize the errors and ii) instead of using NNs as in [15], [16], [21] to approximate the function, we only use one NN, in which NN is the radial basic function (RBF).…”

Section: Introductionmentioning

confidence: 99%

Adaptive synchronous sliding control for a robot manipulator based on neural networks and fuzzy logic

Nguyen Duc,

Vu Viet

2024

IJECE

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Robot manipulators have become important equipment in production lines, medical fields, and transportation. Improving the quality of trajectory tracking for robot hands is always an attractive topic in the research community. This is a challenging problem because robot manipulators are complex nonlinear systems and are often subject to fluctuations in loads and external disturbances. This article proposes an adaptive synchronous sliding control scheme to improve trajectory tracking performance for a robot manipulator. The proposed controller ensures that the positions of the joints track the desired trajectory, synchronize the errors, and significantly reduces chattering. First, the synchronous tracking errors and synchronous sliding surfaces are presented. Second, the synchronous tracking error dynamics are determined. Third, a robust adaptive control law is designed, the unknown components of the model are estimated online by the neural network, and the parameters of the switching elements are selected by fuzzy logic. The built algorithm ensures that the tracking and approximation errors are ultimately uniformly bounded (UUB). Finally, the effectiveness of the constructed algorithm is demonstrated through simulation and experimental results. Simulation and experimental results show that the proposed controller is effective with small synchronous tracking errors, and the chattering phenomenon is significantly reduced.

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“…Besides, the effect of uncertainties is not considered, and the overall controller's stability is not proved. To cope with this problem, employing sliding mode control method, would be an option to overcome large uncertainties and provide high tracking accuracy [20], [21], [37]. However, the conventional SMC suffers from chattering which emanates from a switching term within its control low.…”

Section: Introductionmentioning

confidence: 99%

Optimal Image-Based Task-Sequence/Path Planning and Robust Hybrid Vision/Force Control of Industrial Robots

2022

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Design of a robust adaptive sliding mode control using recurrent fuzzy wavelet functional link neural networks for industrial robot manipulator with dead zone

Cited by 13 publications

References 29 publications

Sectorial Fuzzy Controller Plus Feedforward for the Trajectory Tracking of Robotic Arms in Joint Space

Sectorial Fuzzy Controller Plus Feedforward for the Trajectory Tracking of Robotic Arms in Joint Space

Adaptive synchronous sliding control for a robot manipulator based on neural networks and fuzzy logic

Optimal Image-Based Task-Sequence/Path Planning and Robust Hybrid Vision/Force Control of Industrial Robots

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