Design Stable Robust Intelligent Nonlinear Controller for 6- DOF Serial Links Robot Manipulator

Full Text (PDF, 933KB), PP.19-38

Views: 0 Downloads: 0

Author(s)

Sanaz Yadegar 1,* Azura binti Che Soh 1

1. Department of Electrical and Electronic Engineering, Faculty of Engineering, Universiti Putra Malaysia 43400 Serdang, Selangor, Malaysia

* Corresponding author.

DOI: https://doi.org/10.5815/ijisa.2014.08.03

Received: 11 Sep. 2013 / Revised: 2 Jan. 2014 / Accepted: 26 Mar. 2014 / Published: 8 Jul. 2014

Index Terms

Fuzzy Logic Methodology, Sliding Mode Controller, Serial Links Robot Manipulator, Robust Nonlinear Theory, Chattering Phenomenon

Abstract

In this research parallel Proportional-Derivative (PD) fuzzy logic theory plus Integral part (I) is used to compensate the system dynamic uncertainty controller according to highly nonlinear control theory sliding mode controller. Sliding mode controller (SMC) is an important considerable robust nonlinear controller. In presence of uncertainties, this controller is used to control of highly nonlinear systems especially for multi degrees of freedom (DOF) serial links robot manipulator. In opposition, sliding mode controller is an effective controller but chattering phenomenon and nonlinear equivalent dynamic formulation in uncertain dynamic parameters are two significant drawbacks. To reduce these challenges, new stable intelligent controller is introduce.

Cite This Paper

Sanaz Yadegar, Azura binti Che Soh, "Design Stable Robust Intelligent Nonlinear Controller for 6- DOF Serial Links Robot Manipulator", International Journal of Intelligent Systems and Applications(IJISA), vol.6, no.8, pp.19-38, 2014. DOI:10.5815/ijisa.2014.08.03

Reference

[1]L. Sciavicco and B. Siciliano. Modeling and Control of Robot Manipulators. 2nd ed. London, U.K.: Springer-Verlag, ., 2000. 14, 15, 16, 17, 19, 20, 21, 23, 26, 45, 49, 59, 60, 67, 99, 100

[2] Z. Bingul. Serial and Parallel Robot Manipulators - Kinematics, Dynamics, Control and Optimization. InTech, 2012. 14, 15, 17, 19, 20, 22, 49, 59, 60, 66, 67

[3]T. R. Kurfess, Robotics and automation handbook: CRC, 2005.

[4]C. Wu, "Robot accuracy analysis based on kinematics," IEEE Journal of Robotics and Automation, Vol. 2, No. 3, pp. 171-179, 1986.

[5]J. J. E. Slotine and W. Li, Applied nonlinear control vol. 461: Prentice hall Englewood Cliffs, NJ, 1991.

[6]L. Cheng, Z. G. Hou, M. Tan, D. Liu and A. M. Zou, "Multi-agent based adaptive consensus control for multiple manipulators with kinematic uncertainties," IEEE international conference of intelligent control (ISIC 2008), 2008, pp. 189-194.

[7]B. Siciliano and O. Khatib, Springer handbook of robotics: Springer-Verlag New York Inc, 2008.

[8]B. Armstrong, O. Khatib and J. Burdick, "The explicit dynamic model and inertial parameters of the PUMA 560 arm," IEEE International Conference on Robotica and Automation, 2002, pp. 510-518.

[9]B. S. R. Armstrong, "Dynamics for robot control: friction modeling and ensuring excitation during parameter identification,", Stanford University Computer Science, 1988.

[10]C. L. Clover, "Control system design for robots used in simulating dynamic force and moment interaction in virtual reality applications," Lowa State University, 1996.

[11]K. R. Horspool, Cartesian-space Adaptive Control for Dual-arm Force Control Using Industrial Robots: University of New Mexico, 2003.

[12]P. I. Corke and B. Armstrong-Helouvry, "A search for consensus among model parameters reported for the PUMA 560 robot," IEEE International Conference on Robotica and Automation, 1994, pp. 1608-1613.

[13]Manfered Schleicher and Frank Blasinger. Control Engineering a guide for Beginner. 3rd ed. Germany,GUMO Gmbh and Co.KG ., 2003. pp. 53-61.

[14]I. Boiko, L. Fridman, A. Pisano and E. Usai, "Analysis of chattering in systems with second-order sliding modes," IEEE Transactions on Automatic Control, Vol. 52, No. 11, pp. 2085-2102, 2007.

[15]V. Utkin, "Variable structure systems with sliding modes," IEEE Transactions on Automatic Control, Vol. 22, No. 2, pp. 212-222, 2002.

[16]R. A. DeCarlo, S. H. Zak and G. P. Matthews, "Variable structure control of nonlinear multivariable systems: a tutorial," Proceedings of the IEEE, Vol. 76, No. 3, pp. 212-232, 2002.

[17]K. D. Young, V. Utkin and U. Ozguner, "A control engineer's guide to sliding mode control," IEEE International Workshop on Variable Structure Systems, 2002, pp. 1-14.

[18]O. Kaynak, "Guest editorial special section on computationally intelligent methodologies and sliding-mode control," IEEE Transactions on Industrial Electronics, Vol. 48, No. 1, pp. 2-3, 2001.

[19]J. J. Slotine and S. Sastry, "Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators†," International Journal of Control, Vol. 38, No. 2, pp. 465-492, 1983.

[20]J. J. E. Slotine, "Sliding controller design for non-linear systems," International Journal of Control, Vol. 40, No. 2, pp. 421-434, 1984.

[21]R. Palm, "Sliding mode fuzzy control," IEEE International conference on Fuzzy Systems,2002, pp. 519-526.

[22]B. Wu, Y. Dong, S. Wu, D. Xu and K. Zhao, "An integral variable structure controller with fuzzy tuning design for electro-hydraulic driving Stewart platform," 1st International Symposium on Systems and Control in Aerospace and Astronautics, pp. 940-945, 2006.

[23]F. Barrero, A. Gonzalez, A. Torralba, E. Galvan and L. Franquelo, "Speed control of induction motors using a novel fuzzy sliding-mode structure," IEEE Transactions on Fuzzy Systems, Vol. 10, No. 3, pp. 375-383, 2002.

[24]R. Shahnazi, H. M. Shanechi and N. Pariz, "Position control of induction and DC servomotors: a novel adaptive fuzzy PI sliding mode control," IEEE Transactions on Energy Conversion, Vol. 23, No. 1, pp. 138-147, 2008.

[25]C. C. Weng and W. S. Yu, "Adaptive fuzzy sliding mode control for linear time-varying uncertain systems," IEEE International conference on Fuzzy Systems, 2008, pp. 1483-1490.

[26]C. G. Lhee, J. S. Park, H. S. Ahn and D. H. Kim, "Sliding mode-like fuzzy logic control with self-tuning the dead zone parameters," IEEE Transactions on Fuzzy Systems, Vol. 9, No. 2, pp. 343-348, 2002.

[27]Lhee. C. G., J. S. Park, H. S. Ahn, and D. H. Kim, "Sliding-Like Fuzzy Logic Control with Self-tuning the Dead Zone Parameters," IEEE International Conference on fuzzy systems, 1999, pp.544-549.

[28]X. Zhang, H. Su and J. Chu, "Adaptive sliding mode-like fuzzy logic control for high order nonlinear systems," IEEE International Symposium on Intelligent control, 2002, pp. 788-792.

[29]Y. Li and Q. Xu, "Adaptive Sliding Mode Control With Perturbation Estimation and PID Sliding Surface for Motion Tracking of a Piezo-Driven Micromanipulator," IEEE Transactions on Control Systems Technology, Vol. 18, No. 4, pp. 798-810, 2010. 

[30]L. Reznik, Fuzzy controllers: Butterworth-Heinemann, 1997.

[31]Z. Kovacic and S. Bogdan, Fuzzy controller design: theory and applications: CRC/Taylor & Francis, 2006.

[32]J. Zhou and P. Coiffet, "Fuzzy control of robots," IEE proceeding Control Theory and Applications, Vol. 147, No. 2, 2002, pp. 1357-1364.

[33]S. Banerjee and P. Y. Woo, "Fuzzy logic control of robot manipulator," Second IEEE conference on Control Applications, 2002, pp. 87-88.

[34]Gutman, S., Uncertain dynamical systems: a Lyapunov min-max approach, IEEE. Trans. Automatic Control AC-24, Issue 3, 437-443, 1979.