Trajectory Tracking Control of Robot via a Fuzzy Sliding-Mode Controller

Abstract:

This paper presents a new strategy for the trajectory tracking control of robot, using a fuzzy logic approach and sliding mode control. The key properties of sliding mode control are robustness and chattering which are greatly affected by the motion quality of the reaching phase. The reach law is taken to determine the control law which can improve the convergence speed in the reaching phase and impair the chattering.A fuzzy logic controller is taken to adjust the parameters of the reach law timely which makes the system have a high and rational reaching speed during the whole reaching phase. The error convergencing speed is enhanced which boosted the robustness of system indirectly. And the reaching speed is reduced enough to impair the chattering when the system is very near the sliding mode surface. At last, both the robustness and chattering are improved. A mobile manipulator with two arms is taken as an example to track a given trajectory with the proposed controller. It is found that the results are very encouraging.

• Periodical: Advanced Materials Research (Volumes 433-440)
• Pages: 4154-4158
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.433-440.4154
• Online since: January 2012
• Authors: Hong Mei
• Keywords: Chattering, Fuzzy Control, Reach Law, Robustness, Sliding Mode Control (SMC)

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