Robust tracking control of robot manipulators with friction

T. I.J. Tsay, Y. J. Zeng, K. H. Zang, Y. Y. Du, S. Huang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A robot manipulator is a highly nonlinear and dynamically coupled system, which is subject to the disturbances and model uncertainties. The objective of this research is to design a robust tracking controller for robot manipulators with friction. This study applies the feedforward compensation to undercompensate the friction torque and combines the proposed fuzzy sliding mode control (FSMC) in the feedback loop. The proposed FSMC scheme is based on the principle of SMC but with the application of fuzzy logic control, providing a simple way to achieve asymptotic stability of the system. The scheme can not only overcome the chattering problem inherent with SMC by use of fuzzifized sliding surface, but also determine the rules for fuzzy logic control using the concept of SMC. Finally, the proposed algorithms were in simulation verified on an industrial manipulator.

Original languageEnglish
Title of host publication2015 IFToMM World Congress Proceedings, IFToMM 2015
PublisherNational Taiwan University
ISBN (Electronic)9789860460988
DOIs
Publication statusPublished - 2015 Jan 1
Event14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015 - Taipei, Taiwan
Duration: 2015 Oct 252015 Oct 30

Publication series

Name2015 IFToMM World Congress Proceedings, IFToMM 2015

Other

Other14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015
CountryTaiwan
CityTaipei
Period15-10-2515-10-30

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • History

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    Tsay, T. I. J., Zeng, Y. J., Zang, K. H., Du, Y. Y., & Huang, S. (2015). Robust tracking control of robot manipulators with friction. In 2015 IFToMM World Congress Proceedings, IFToMM 2015 (2015 IFToMM World Congress Proceedings, IFToMM 2015). National Taiwan University. https://doi.org/10.6567/IFToMM.14TH.WC.OS13.102