Paper Info
Title
Adaptive fuzzy nonsingular terminal sliding mode controller for robot manipulator actuated by pneumatic artificial muscles
Abstract
In this paper, we deal with the robust control of robot manipulator actuated by pneumatic artificial muscles. The control consists on the combination of the nonsingular terminal sliding mode which is based on the time delay estimation method and an adaptive fuzzy logic system based on the gradient descends algorithm. First, the nonsingular terminal sliding mode control approach was presented and the stability of the system in closed loop was analyzed using Lyapunov stability theorem. Second, adaptive fuzzy logic scheme is proposed for reducing the chattering effect. Third, in order to proof the efficiency and the superiority of the proposed approach, this last is experimented and compared to nonsingular terminal sliding mode controller and to fuzzy nonsingular terminal sliding mode controller under 2-DOF robot manipulator actuated by pneumatic artificial muscles.
Year
DOI
Venue
2013
10.1109/ROBIO.2013.6739481
Robotics and Biomimetics
Keywords
Field
DocType
Lyapunov methods,adaptive control,closed loop systems,control nonlinearities,delays,electroactive polymer actuators,fuzzy control,gradient methods,manipulators,pneumatic actuators,robust control,variable structure systems,2-DOF robot manipulator,Lyapunov stability theorem,adaptive fuzzy logic system,adaptive fuzzy nonsingular terminal sliding mode controller,chattering effect reduction,closed loop system stability,gradient descends algorithm,pneumatic artificial muscles,robot manipulator,robust control,time delay estimation method
Control theory,Pneumatic actuator,Control theory,Fuzzy logic,Control engineering,Pneumatic artificial muscles,Engineering,Adaptive control,Fuzzy control system,Robust control,Sliding mode control
Conference
Citations 
PageRank 
References 
1
0.37
8
Authors
4
Name
Order
Citations
PageRank
A. Rezoug111.38
Bertrand Tondu27815.13
M. Hamerlain34111.28
M. Tadjine423911.07