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Trajectory tracking control for chain-series robot manipulator: Robust adaptive fuzzy terminal sliding mode control with low-pass filter
| Content Provider | SAGE Publishing |
|---|---|
| Author | Wang, Pengcheng Zhang, Dengfeng Lu, Baochun |
| Copyright Year | 2020 |
| Abstract | This article investigates a difficult problem which focuses on the external disturbance and dynamic uncertainty in the process of trajectory tracking. This article presents a robust adaptive fuzzy terminal sliding mode controller with low-pass filter. The low-pass filter can provide smooth position and speed signals. The fuzzy terminal sliding mode controller can achieve fast convergence and desirable tracking precision. Chattering is eliminated with continuous control law, due to high-frequency switching terms contained in the first derivative of actual control signals. Ignoring the prior knowledge upper bound, the controller can reduce the influence of the uncertain kinematics and dynamics in the actual situation. Finally, the experiment is carried out and the results show the performance of the proposed controller. |
| Related Links | https://journals.sagepub.com/doi/pdf/10.1177/1729881420916980?download=true |
| ISSN | 17298806 |
| Issue Number | 3 |
| Volume Number | 17 |
| Journal | International Journal of Advanced Robotic Systems (ARX) |
| e-ISSN | 17298814 |
| DOI | 10.1177/1729881420916980 |
| Language | English |
| Publisher | Sage Publications UK |
| Publisher Date | 2020-05-08 |
| Publisher Place | London |
| Access Restriction | Open |
| Rights Holder | © The Author(s) 2020 |
| Subject Keyword | trajectory tracking Robot fuzzy terminal sliding mode control low-pass filter dynamics uncertainty |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Computer Science Applications Software |
