Fuzzy adaptive PID fast terminal sliding mode controller for a redundant manipulator

•We propose a trajectory tracking control method for redundant manipulators.•The method eliminates chattering by using fuzzy logic system and adaptive control.•The proposed method is demonstrated by experimental data of Baxter robot.•The proposed method shows better performance compared to the previ...

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Bibliographic Details
Published in:Mechanical systems and signal processing 2021-10, Vol.159, p.107577, Article 107577
Main Authors: Zhong, Guoliang, Wang, Changming, Dou, Weiqiang
Format: Article
Language:English
Subjects:
Adaptive control
Algorithms
Control algorithms
Control methods
Control stability
Control theory
Controllers
End effectors
Error reduction
Fuzzy control
Manipulators
Modeling
Redundancy
Redundant manipulator
Robot arms
Robustness
Robustness (mathematics)
Slide mode control
Sliding mode control
Trajectory tracking
Upper bounds
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Summary:•We propose a trajectory tracking control method for redundant manipulators.•The method eliminates chattering by using fuzzy logic system and adaptive control.•The proposed method is demonstrated by experimental data of Baxter robot.•The proposed method shows better performance compared to the previous method. In this study, a fuzzy adaptive PID fast terminal sliding mode controller has been proposed for a redundant manipulator system with a variable load. The method realizes an accurate tracking of the trajectory at the end effector of the manipulator and improves its robustness toward model uncertainty and external disturbance when controlling the position of the redundant manipulator. By using the advantages of the PID and the fast terminal sliding mode control, the convergence speed of the control algorithm has been improved, and its steady-state error has been reduced. Also, integration of the continuous approximation law has been used to eliminate the real-time chattering during the control process without affecting the robustness of the system. A fuzzy adaptive control law has been designed in order to estimate the error of the dynamic system and the upper bound of the disturbance on the external load. Further, the variable switching gain makes the control system achieve better performance in different external environments. Finally, the stability of the controller has been proved by the Lyapunov theory, and the effectiveness and superiority of the control method has been verified by using the simulation and experimental platform for a seven-degrees-of-freedom redundant robot manipulator.
ISSN:0888-3270
1096-1216
DOI:10.1016/j.ymssp.2020.107577