Trajectory Tracking with Parallel Robots Using Low Chattering, Fuzzy Sliding Mode Controller

Authors:
Zhen Qi;John E. Mcinroy;Farhad Jafari
Affiliations:
Department of Electrical and Computer Engineering, University of Wyoming, Laramie, USA 82071;Department of Electrical and Computer Engineering, University of Wyoming, Laramie, USA 82071;Department of Mathematics, University of Wyoming, Laramie, USA 82071
Venue:
Journal of Intelligent and Robotic Systems
Year:
2007

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Abstract

This paper proposes a trajectory tracking scheme which belongs to the sliding mode control (SMC) for the 4-degree-of-freedom (DOF) parallel robots. Two fuzzy logic systems (FLS) are first put forward to replace the constant switching control gain and the width of the boundary layer. The fuzzy adaptive supervisory controller (FASC) is combined with the fuzzy sliding mode control (FSMC) to further reduce the chattering. The design is simple and less fuzzy rules are required. The simulation results demonstrate that the chattering of the SMC is reduced greatly and the parallel robot realizes the trajectory tracking with very good robustness to the parameter uncertainties and external disturbances.