TY - GEN
T1 - Robust tracking control of robot manipulators with friction
AU - Tsay, T. I.J.
AU - Zeng, Y. J.
AU - Zang, K. H.
AU - Du, Y. Y.
AU - Huang, S.
N1 - Funding Information:
The authors would like to thank the Industrial Technology Research Institute, for financially supporting this research under Contract No. B103-56.
PY - 2015
Y1 - 2015
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85018946530&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85018946530&partnerID=8YFLogxK
U2 - 10.6567/IFToMM.14TH.WC.OS13.102
DO - 10.6567/IFToMM.14TH.WC.OS13.102
M3 - Conference contribution
AN - SCOPUS:85018946530
T3 - 2015 IFToMM World Congress Proceedings, IFToMM 2015
BT - 2015 IFToMM World Congress Proceedings, IFToMM 2015
PB - National Taiwan University
T2 - 14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015
Y2 - 25 October 2015 through 30 October 2015
ER -