Adaptive Fuzzy Sliding Mode Controller with Nonlinear Observer for Redundant Manipulators Handling Varying External Force

doi:10.1016/S1672-6529(16)60331-1

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	Adaptive Fuzzy Sliding Mode Controller with Nonlinear Observer for Redundant Manipulators Handling Varying External Force
	He, Jun 1,2; Luo, Minzhou 3; Zhang, Qingqing 2,4; Zhao, Jianghai 2; Xu, Linsen 2
刊名	JOURNAL OF BIONIC ENGINEERING
	2016-10-01
卷号	13 期号:4 页码:600-611
关键词	Fuzzy Logic Adaptive Control Redundant Manipulators Nonlinear Observer
DOI	10.1016/S1672-6529(16)60331-1
文献子类	Article
英文摘要	An Adaptive Fuzzy Sliding Mode Controller with Nonlinear Observer (AFSMCO) for the redundant robotic manipulator is proposed in this paper. This approach could achieve a precise trajectory tracking for a robot manipulator in the presence of uncertainties and disturbances. Primarily, a suitable observer using the recursive algorithm is presented for an accurate estimation of external disturbances caused by the varying external force. Secondly, the adaptive fuzzy logic is designed to approximate the parameters of the sliding mode controller (AFSMC) to avoid chattering in real time. Moreover, it is shown using the Lyapunov theory that the tracking error asymptotically converges to zero. Finally, the effectiveness of the proposed control approach and theoretical discussion are demonstrated by simulation results on a 7-link robot and tested on a 7-DOF manipulator platform.
WOS关键词	RBF NEURAL-NETWORK ; ROBOT MANIPULATORS ; TRACKING CONTROL ; DYNAMIC-SYSTEMS ; DESIGN
WOS研究方向	Engineering ; Materials Science ; Robotics
语种	英语
WOS记录号	WOS:000385691200008
资助机构	science and technology support plan key projects of Jiangsu province(BE 2013003) ; science and technology support plan key projects of Jiangsu province(BE 2013003) ; science and technology support plan key projects of Jiangsu province(BE 2013003) ; science and technology support plan key projects of Jiangsu province(BE 2013003) ; science and technology support plan key projects of Jiangsu province(BE 2013003) ; science and technology support plan key projects of Jiangsu province(BE 2013003) ; science and technology support plan key projects of Jiangsu province(BE 2013003) ; science and technology support plan key projects of Jiangsu province(BE 2013003) ; Jiangsu Natural Science Funds(BK20141160) ; Jiangsu Natural Science Funds(BK20141160) ; Jiangsu Natural Science Funds(BK20141160) ; Jiangsu Natural Science Funds(BK20141160) ; Jiangsu Natural Science Funds(BK20141160) ; Jiangsu Natural Science Funds(BK20141160) ; Jiangsu Natural Science Funds(BK20141160) ; Jiangsu Natural Science Funds(BK20141160) ; science and technology support plan key projects of Jiangsu province(BE 2013003) ; science and technology support plan key projects of Jiangsu province(BE 2013003) ; science and technology support plan key projects of Jiangsu province(BE 2013003) ; science and technology support plan key projects of Jiangsu province(BE 2013003) ; science and technology support plan key projects of Jiangsu province(BE 2013003) ; science and technology support plan key projects of Jiangsu province(BE 2013003) ; science and technology support plan key projects of Jiangsu province(BE 2013003) ; science and technology support plan key projects of Jiangsu province(BE 2013003) ; Jiangsu Natural Science Funds(BK20141160) ; Jiangsu Natural Science Funds(BK20141160) ; Jiangsu Natural Science Funds(BK20141160) ; Jiangsu Natural Science Funds(BK20141160) ; Jiangsu Natural Science Funds(BK20141160) ; Jiangsu Natural Science Funds(BK20141160) ; Jiangsu Natural Science Funds(BK20141160) ; Jiangsu Natural Science Funds(BK20141160)
内容类型	期刊论文
源URL	[http://ir.hfcas.ac.cn/handle/334002/21215]
专题	合肥物质科学研究院_中科院合肥物质科学研究院先进制造技术研究所
作者单位	1.Univ Sci & Technol China, Sch Informnat Sci Technol, Dept Automat, Hefei 230026, Peoples R China 2.Chinese Acad Sci, Hefei Inst Phys Sci, Inst Adv Mfg & Technol, Changzhou 213164, Peoples R China 3.Hohai Univ, Sch Mech & Elect Engn, Changzhou 213264, Peoples R China 4.Univ Sci & Technol China, Sch Engn Sci, Hefei 230026, Peoples R China
推荐引用方式 GB/T 7714	He, Jun,Luo, Minzhou,Zhang, Qingqing,et al. Adaptive Fuzzy Sliding Mode Controller with Nonlinear Observer for Redundant Manipulators Handling Varying External Force[J]. JOURNAL OF BIONIC ENGINEERING,2016,13(4):600-611.
APA	He, Jun,Luo, Minzhou,Zhang, Qingqing,Zhao, Jianghai,&Xu, Linsen.(2016).Adaptive Fuzzy Sliding Mode Controller with Nonlinear Observer for Redundant Manipulators Handling Varying External Force.JOURNAL OF BIONIC ENGINEERING,13(4),600-611.
MLA	He, Jun,et al."Adaptive Fuzzy Sliding Mode Controller with Nonlinear Observer for Redundant Manipulators Handling Varying External Force".JOURNAL OF BIONIC ENGINEERING 13.4(2016):600-611.