Free-Chattering Fuzzy Sliding Mode Control of Robot Manipulators with Joints Flexibility in Presence of Matched and Mism
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Free-Chattering Fuzzy Sliding Mode Control of Robot Manipulators with Joints Flexibility in Presence of Matched and Mismatched Uncertainties in Model Dynamic and Actuators Mohammad Reza Soltanpour 1 & Saeed Zaare 2 & Mahyar Haghgoo 3 & Mazda Moattari 4 Received: 4 May 2019 / Accepted: 16 February 2020 # Springer Nature B.V. 2020
Abstract In this paper, a simple but effective voltage-based fuzzy sliding mode control (SMC) is proposed to control the position of a class of flexible-joints robot manipulators with n degrees of freedom in presence of matched and mismatched uncertainties related to the electrical and mechanical equations. In order to solve problems in comparison with conventional SMC, a sliding surface with the time-varying parameter is proposed which not only eliminates chattering and increases the stability of the closed loop system, but also prevents the increase of the control input voltage. Furthermore, an approach is proposed to calculate the sliding surface vector coefficients which, in presence of the existing uncertainties, guarantee the global asymptotically stability of the closed loop system. Finally, simulation and practical implementation results are presented to exhibit the helpfulness of the proposed control technique compared to the previous methods. Keywords Robot manipulator . Joint flexibility . Sliding mode control . Voltage based . Chattering . Global asymptotic stability
1 Introduction 1.1 Background and Motivations Robot manipulators, as a large part of the robotic world, have played an important role in various fields of engineering
* Mohammad Reza Soltanpour [email protected]; [email protected] Saeed Zaare [email protected]; [email protected] Mahyar Haghgoo [email protected] Mazda Moattari [email protected] 1
Department of Electrical Engineering, Shahid Sattari Aeronautical University of Science and Technology, Tehran, Iran
2
Department of Electrical Engineering, Khatam al-Anbiya University, Tehran, Iran
3
Department of Control Engineering, School of Electrical and Computer Engineering, Tarbiat Modares University (TMU), Tehran, Iran
4
Department of Electrical Engineering, Marvdasht Branch, Islamic Azad University, Marvdasht, Iran
applications like boring, and dangerous and uniform tasks such as assembling, welding, spray painting, cutting, and contacting with hazardous chemicals [1]. To carry out many of these tasks, robot manipulators need high speed and precision, both of which create a serious challenge in robot manipulator control problem. Robot manipulator features are stiff and heavy in order to balance the speed and accuracy and eliminate undesirable effects, such as vibration. These properties lead to high costs, bigger actuators, limited speed, high power consumption, limited maneuverability, difficult transportation, and limited applications. In order to overcome these problems and to have robot manipulators of light weight and high speed, the use of flexible robots has grown dramatically in recent decades [2, 3]. Flexibility ca
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