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Trajectory Tracking Control of Multi Degrees of Freedom Joints: Robust Fuzzy Logic-Based Sliding Mode Approach

첫 페이지 보기
  • 발행기관
    보안공학연구지원센터(IJCA) 바로가기
  • 간행물
    International Journal of Control and Automation SCOPUS 바로가기
  • 통권
    Vol.7 No.12 (2014.12)바로가기
  • 페이지
    pp.323-338
  • 저자
    S.Yauldegar, Hootan Ghiasi, Mohammad Hadi Mazloom, Amirzubir Sahamijoo, Mohammad Reza Avazpour, Farzin Piltan
  • 언어
    영어(ENG)
  • URL
    https://www.earticle.net/Article/A239180

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원문정보

초록

영어
The multi degrees of freedom actuator is an important joint, which has attracted worldwide developing interests for its medical, industry and aerospace applications. This paper addresses the problem of trajectory tracking of three dimensions joint in the presence of model uncertainties and external disturbances. An adaptive fuzzy sliding mode controller (AFLSMC) is proposed to steer a three dimension joint along a desired trajectory precisely. First, the dynamics model of a three dimension joint is formulated and the trajectory tracking problem is described. Second, a sliding mode controller (SMC) is designed to track a time-varying trajectory. The fuzzy logic system (FLS) is employed to approximate the uncertain model of the three dimension joint, with the tracking error and its derivatives and the commanded trajectory and its derivatives as FLS inputs and the approximation of the uncertain model as FLS output. And a fuzzy logic system is also adopted to attenuate the chattering results from the SMC. The control gains are tuned synchronously with the sliding surface according to fuzzy rules, with switching sliding surface as fuzzy logic inputs and control gains as fuzzy logic outputs. The stability and convergence of the closed-loop controller is proven using the Lyapunov stability theorem. Finally, the effectiveness and robustness of the proposed controller are demonstrated via simulation results. Contrasting simulation results indicate that the AFLSMC attenuates the chattering effectively and has better performance against the SMC.

목차

Abstract
 1. Introduction
 2. Modeling and Formulation
 3. Control Design for Trajectory Tracking
 4. Results and Discussion
 5. Conclusion
 Acknowledgements
 References

키워드

Trajectory tracking sliding mode control fuzzy rules approximation adaptive method multi degrees of freedom joints

저자

  • S.Yauldegar [ Department of Electrical and Computer Engineering, Faculty of Engineering, National University of Singapore, Department of Electrical and Electronic Engineering, Faculty of Engineering, University Putra Malaysia, Malaysia ]
  • Hootan Ghiasi [ Intelligent System and Robotic Lab, Iranian Institute of Advance Science and Technology (IRAN SSP), Shiraz/Iran ]
  • Mohammad Hadi Mazloom [ Intelligent System and Robotic Lab, Iranian Institute of Advance Science and Technology (IRAN SSP), Shiraz/Iran ]
  • Amirzubir Sahamijoo [ Intelligent System and Robotic Lab, Iranian Institute of Advance Science and Technology (IRAN SSP), Shiraz/Iran ]
  • Mohammad Reza Avazpour [ Intelligent System and Robotic Lab, Iranian Institute of Advance Science and Technology (IRAN SSP), Shiraz/Iran ]
  • Farzin Piltan [ Intelligent System and Robotic Lab, Iranian Institute of Advance Science and Technology (IRAN SSP), Shiraz/Iran ]

참고문헌

자료제공 : 네이버학술정보

간행물 정보

발행기관

  • 발행기관명
    보안공학연구지원센터(IJCA) [Science & Engineering Research Support Center, Republic of Korea(IJCA)]
  • 설립연도
    2006
  • 분야
    공학>컴퓨터학
  • 소개
    1. 보안공학에 대한 각종 조사 및 연구 2. 보안공학에 대한 응용기술 연구 및 발표 3. 보안공학에 관한 각종 학술 발표회 및 전시회 개최 4. 보안공학 기술의 상호 협조 및 정보교환 5. 보안공학에 관한 표준화 사업 및 규격의 제정 6. 보안공학에 관한 산학연 협동의 증진 7. 국제적 학술 교류 및 기술 협력 8. 보안공학에 관한 논문지 발간 9. 기타 본 회 목적 달성에 필요한 사업

간행물

  • 간행물명
    International Journal of Control and Automation
  • 간기
    월간
  • pISSN
    2005-4297
  • 수록기간
    2008~2016
  • 십진분류
    KDC 505 DDC 605

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