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112724

AN ADAPTIVE FUZZY SLIDING MODE CONTROL SCHEME FOR ROBOTIC SYSTEMS

Article

Last updated: 26 Dec 2024

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Subjects

-

Tags

Mechanical, Power, Production, Design and Mechatronics Engineering.

Abstract

In this article, an adaptive fuzzy sliding mode control (AFSMC) scheme is derived for robotic systems. In the AFSMC design, the sliding mode control (SMC) concept is combined with fuzzy control strategy to obtain a model-free fuzzy sliding mode control. The equivalent controller has been replaced by a fuzzy system and the uncertainties are estimated on-line. The approach of the AFSMC has the learning ability to generate the fuzzy control actions and adaptively compensates for the uncertainties. Despite the high nonlinearity and coupling effects, the control input of the proposed control algorithm has been decoupled leading to a simplified control mechanism for robotic systems. Simulations have been carried out on a two link planar robot. Results show the effectiveness of the proposed control system.

DOI

10.21608/jesaun.2012.112724

Keywords

Sliding mode control (SMC), Adaptive fuzzy sliding mode control (AFSMC), Fuzzy logic control (FLC), Adaptive laws, Robotic control

Authors

First Name

Abdel Badie

Last Name

Sharkawy

MiddleName

-

Affiliation

Associate Professor, Mechanical Engineering Department, Faculty of Engineering, Assiut University, 71516, EGYPT

Email

ab.shark@aun.edu.eg

City

-

Orcid

-

First Name

Shaaban A.

Last Name

Salman

MiddleName

-

Affiliation

Mechanical Engineering Department, Faculty of Engineering, Assiut University, 71516 Assiut, Egypt

Email

-

City

-

Orcid

-

Volume

40

Article Issue

No 1

Related Issue

16626

Issue Date

2012-01-01

Receive Date

2011-11-12

Publish Date

2012-01-01

Page Start

173

Page End

189

Print ISSN

1687-0530

Online ISSN

2356-8550

Article File

JESAUN_Volume 40_Issue No 1_Pages 173-189.pdf

PDF . 257.9kB

Link

https://jesaun.journals.ekb.eg/article_112724.html

Detail API

https://jesaun.journals.ekb.eg/service?article_code=112724

Order

10

Type

Research Paper

Type Code

1,438

Publication Type

Journal

Publication Title

JES. Journal of Engineering Sciences

Publication Link

https://jesaun.journals.ekb.eg/

MainTitle

AN ADAPTIVE FUZZY SLIDING MODE CONTROL SCHEME FOR ROBOTIC SYSTEMS

Details

Type

Article

Created At

23 Jan 2023