Abstract
This chapter proposes a new enhanced adaptive fuzzy sliding mode controller (EAFSMC) with its perfect suitability for use in the control of a highly nonlinear and uncertain serial pneumatic artificial muscle (PAM) robot. The critical proof of the stability and the convergence of the overall system is presented using Lyapunov stability principle. Simulation results of the proposed EAFSMC control, applied to a two-degree-of-freedom nonlinear serial PAM robot, are implemented, and we have evaluated their efficacy in maintaining Lyapunov stability and their good performance.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Song Q, Jia C (2016) Robust speed controller design for permanent magnet synchronous motor drives based on sliding mode control. Energy Proc 88:867–873
Esmaeili N, Alfi A, Khosravi H (2017) Balancing and trajectory tracking of two-wheeled mobile robot using backstepping sliding mode control: design and experiments. J Intell Robot Syst 1–13
Shiri R, Nekoo SR (2017) A general approach to dynamic gain adaptation of sliding mode control for robotic arms with parameter uncertainty. Majlesi J Mechatron Syst 5(4)
Guo Y, Woo PY (2003) An adaptive fuzzy sliding mode controller for robotic manipulators. IEEE Trans Syst Man Cybern Part A 33(2):149–160
Lin CM, Hsu CF (2004) Adaptive fuzzy sliding-mode control for induction servomotor systems. IEEE Trans Energy Convers 19(2)
Medhaffar H, Derbel N, Damak T (2006) A decoupled fuzzy indirect adaptive sliding mode controller with application to robot manipulator. Int J Model Ident Control l(1):23–29
Soltanpour MR, Khooban MH, Khalghani MR (2016) An optimal and intelligent control strategy for a class of nonlinear systems: adaptive fuzzy sliding mode. J Vib Control 22(1):159–175
Anand R, Mary PM (2016) Improved dynamic response of DC to DC converter using hybrid PSO tuned fuzzy sliding mode controller. Circ Syst 7(06):946
Ullah N, Shaoping W, Khattak MI, Shafi M (2015) Fractional order adaptive fuzzy sliding mode controller for a position servo system subjected to aerodynamic loading and nonlinearities. Aerosp Sci Technol 43:381–387
Oveisi A, Nestorović T (2016) Robust observer-based adaptive fuzzy sliding mode controller. Mech Syst Signal Process 76:58–71
Moussaoui S, Boulkroune A (2017) Stable adaptive fuzzy sliding-mode controller for a class of underactuated dynamic systems. In: Recent advances in electrical engineering and control applications. Springer, pp 114–124
Acknowledgements
This research is funded by Vietnam National Foundation for Science and Technology Development (NAFOSTED), by DCSELAB and by Vietnam National University Ho Chi Minh City (VNU-HCM).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Van Kien, C., Anh, H.P.H. (2018). Enhanced Adaptive Fuzzy Sliding Mode Control for Nonlinear Uncertain Serial Pneumatic Artificial Muscle (PAM) Robot System. In: Nguyen-Xuan, H., Phung-Van, P., Rabczuk, T. (eds) Proceedings of the International Conference on Advances in Computational Mechanics 2017. ACOME 2017. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-10-7149-2_72
Download citation
DOI: https://doi.org/10.1007/978-981-10-7149-2_72
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-10-7148-5
Online ISBN: 978-981-10-7149-2
eBook Packages: EngineeringEngineering (R0)