TY - GEN
T1 - Research on Manipulator Trajectory Tracking Based on Adaptive Fuzzy Sliding Mode Control
AU - Yang, Shichun
AU - Xie, Hehui
AU - Chen, Fei
AU - Zhang, Junbing
AU - Feng, Song
AU - Liu, Jian
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/11/6
Y1 - 2020/11/6
N2 - Manipulator has the characteristics of high nonlinearity and strong coupling, which is easily affected by external factors, making the system instability. Based on the above problems, an adaptive fuzzy sliding mode control method is designed to study the trajectory tracking problem of manipulator in the paper. Firstly, a two-degree-of-freedom dynamic model of the manipulator is established according to the Lagrangian equation, and then an adaptive fuzzy sliding mode control algorithm for the manipulator is proposed and the Lyapunov function is used to prove the convergence and stability of the algorithm. The simulation results show that the adaptive fuzzy sliding mode control can make each joint of the manipulator respond to the desired trajectory quickly, and the tracking error converges to zero within a certain time, which has achieved excellent control effect and verified the effectiveness of the algorithm.
AB - Manipulator has the characteristics of high nonlinearity and strong coupling, which is easily affected by external factors, making the system instability. Based on the above problems, an adaptive fuzzy sliding mode control method is designed to study the trajectory tracking problem of manipulator in the paper. Firstly, a two-degree-of-freedom dynamic model of the manipulator is established according to the Lagrangian equation, and then an adaptive fuzzy sliding mode control algorithm for the manipulator is proposed and the Lyapunov function is used to prove the convergence and stability of the algorithm. The simulation results show that the adaptive fuzzy sliding mode control can make each joint of the manipulator respond to the desired trajectory quickly, and the tracking error converges to zero within a certain time, which has achieved excellent control effect and verified the effectiveness of the algorithm.
KW - Adaptive control
KW - Fuzzy control
KW - Manipulator
KW - Sliding mode control
UR - https://www.scopus.com/pages/publications/85100931357
U2 - 10.1109/CAC51589.2020.9326821
DO - 10.1109/CAC51589.2020.9326821
M3 - 会议稿件
AN - SCOPUS:85100931357
T3 - Proceedings - 2020 Chinese Automation Congress, CAC 2020
SP - 3086
EP - 3091
BT - Proceedings - 2020 Chinese Automation Congress, CAC 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 Chinese Automation Congress, CAC 2020
Y2 - 6 November 2020 through 8 November 2020
ER -