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Simulation of 2-DOF Articulated Robot Control Based on Adaptive Fuzzy Sliding Mode Control

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Intelligent Robotics and Applications (ICIRA 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10462))

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Abstract

About the control of articulated robot, researchers put out an adaptive fuzzy sliding mode control algorithm by analyzing the classical sliding mode algorithm. There is an adaptive single input and output fuzzy to calculate the control gain. Meanwhile, researchers designed a adaptive law which is based on Lyapunov theory, and simulated the adaptive fuzzy sliding mode control in Simulink. Simulink results show that when the chattering exiting becomes weaker, the function of system is stronger. Since the adaptive algorithm joined, fuzzy sliding mode control can be different with the change of system’s state and adjusted automatically. Steady-state convergence is constant, adaptive fuzzy sliding mode control algorithm still with a good robustness under the condition that articulated robot’s parameters uncertain and external interference.

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Acknowledgement

This work is supported by National Natural Science Foundation under Grant 51575407, 51575338, 51575412 and the UK Engineering and Physical Science Research Council under Grant EP/G041377/1. This support is greatly acknowledged.

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Authors and Affiliations

  1. Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan, 430081, China

    Feng Du, Gongfa Li, Ying Sun, Jianyi Kong, Guozhang Jiang & Du Jiang

  2. Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, 430081, China

    Gongfa Li, Zhe Li, Ying Sun, Jianyi Kong & Guozhang Jiang

Authors
  1. Feng Du
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  2. Gongfa Li
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  3. Zhe Li
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  4. Ying Sun
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  5. Jianyi Kong
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  6. Guozhang Jiang
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  7. Du Jiang
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Corresponding author

Correspondence to Feng Du .

Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

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Du, F. et al. (2017). Simulation of 2-DOF Articulated Robot Control Based on Adaptive Fuzzy Sliding Mode Control. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10462. Springer, Cham. https://doi.org/10.1007/978-3-319-65289-4_52

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  • DOI: https://doi.org/10.1007/978-3-319-65289-4_52

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65288-7

  • Online ISBN: 978-3-319-65289-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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