ADAPTIVE FUZZY CONTROL OF ROBOT ARM SYSTEM

Nguyễn Chí Ngôn; Cao Thị Yến; Trương Thị Thanh Tuyền

doi:10.34238/tnu-jst.4867

ADAPTIVE FUZZY CONTROL OF ROBOT ARM SYSTEM

About this article

Received: 07/08/21 Revised: 29/11/21 Published: 30/11/21

Authors

1. Nguyen Chi Ngon , Can Tho University
2. Cao Thi Yen, An Giang Vocational College
3. Truong Thi Thanh Tuyen, Can Tho University

Abstract

Due to their nonlinear characteristics, the robotic dynamic systems have been attracted several research interests. Robot control algorithms from classical to modern and intelligent, have been deployed. However, to approach a specific robot control technique, the reader may have difficulty with a lot of scholarly literature. This paper aims to synthesize documents and present detailed process of building a simulation model and testing the adaptive fuzzy sliding mode control algorithm, illustrated on a 2-degree-of-freedom (2-DOF) manipulator model, in the MATLAB/Simulink environment. The hard-to-control components in robot model, as well as in the control law, such as friction, noise, and other uncertainties, are approximated by fuzzy systems. With the adaptive mechanism applied, the sliding control law is flexible enough to adapt to the robot's parameter variation and is stable according to Lyapunov’s theory. Simulations on the 2-DOF manipulator model show that the adaptive fuzzy sliding mode controller can give responses without overshoot, small settling time (0.15 s) and negligible steady-state error (0.0012 rad). The case of increasing the manipulator's load up to 100% also shows that the actual trajectory tracking well to the reference and does not appear significant fluctuations in the control signal.

Keywords

2-DOF robot; Adaptive fuzzy control; Fuzzy approximation; Fuzzy logic; Sliding mode control

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DOI: https://doi.org/10.34238/tnu-jst.4867

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