Robust fuzzy-based sliding mode tracking control for constrained robots with constraint uncertainties

Author

Yen, Hui-Min ; Li, Tzuu-Hseng S. ; Chang, Yeong-Chan

Author_Institution

Dept. of Electr. Eng., Nat. Cheng Kung Univ., Tainan, Taiwan

fYear

2011

fDate

13-18 Sept. 2011

Firstpage

1320

Lastpage

1325

Abstract

Robust fuzzy-based sliding mode tracking control designs are proposed for constrained robot systems with plant uncertainties and external disturbances. Structures of mechanical dynamics can be allowed to be completely unknown and the constraint surface to be perturbed by time-varying bounded uncertainties. Adaptive fuzzy systems are employed to approximate the behaviors of uncertain dynamics and the SMC algorithm is used to eliminate the effect of the time-varying perturbation. Simulation examples are presented to demonstrate the effectiveness and the tracking performance of the proposed control algorithm.

Keywords

adaptive control; fuzzy control; mobile robots; perturbation techniques; robust control; time-varying systems; tracking; uncertainty handling; variable structure systems; SMC algorithm; adaptive fuzzy system; constrained robot system; constraint uncertainty; mechanical dynamics; plant uncertainty; robust fuzzy-based sliding mode tracking control; time-varying bounded uncertainty; time-varying perturbation; tracking performance; Approximation methods; Fuzzy logic; Mathematical model; Robots; Robustness; Sliding mode control; Uncertainty; constrained robot; fuzzy system; sliding-mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE Annual Conference (SICE), 2011 Proceedings of

Conference_Location

Tokyo

ISSN

pending

Print_ISBN

978-1-4577-0714-8

Type

conf

Filename

6060540