TRAJECTORY TRACKING OF UNDER-ACTUATED NONLINEAR DYNAMIC ROBOTS: ADAPTIVE FUZZY HIERARCHICAL TERMINAL SLIDING-MODE CONTROL

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VAGHEI Y.; FARSHIDIANFAR A.

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Journal: JOURNAL OF ARTIFICIAL INTELLIGENCE AND DATA MINING Year:2016 | Volume:4 | Issue:1 Page(s): 93-102

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Title

TRAJECTORY TRACKING OF UNDER-ACTUATED NONLINEAR DYNAMIC ROBOTS: ADAPTIVE FUZZY HIERARCHICAL TERMINAL SLIDING-MODE CONTROL

Author(s)

VAGHEI Y. | FARSHIDIANFAR A. | Issue Writer Certificate

Keywords

ADAPTIVE FUZZY SYSTEMQ2

HIERARCHICAL STRUCTUREQ2

TERMINAL SLIDING MODE CONTROLQ2

UNDER-ACTUATED SYSTEMQ2

Abstract

Under-actuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has recently been investigated for hierarchical sliding mode control since these systems require complex computations. However, the instability phenomena possibly occur especially for long-term operations. In this paper, a new design approach of an adaptive fuzzy hierarchical terminal sliding-mode controller (AFHTSMC) is proposed. The sliding surfaces of the subsystems construct the HIERARCHICAL STRUCTURE of the proposed method in which the top layer includes all of the subsystems’ sliding surfaces. Moreover, a terminal-sliding mode has been implemented in each layer to ensure the error convergence to zero in finite time besides chattering reduction. In addition, online fuzzy models are employed to approximate the two nonlinear dynamic system’s functions. Finally, a simulation example of an inverted pendulum is proposed to confirm the effectiveness and robustness of the proposed controller.

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APA: Copy

VAGHEI, Y., & FARSHIDIANFAR, A.. (2016). TRAJECTORY TRACKING OF UNDER-ACTUATED NONLINEAR DYNAMIC ROBOTS: ADAPTIVE FUZZY HIERARCHICAL TERMINAL SLIDING-MODE CONTROL. JOURNAL OF ARTIFICIAL INTELLIGENCE AND DATA MINING, 4(1), 93-102. SID. https://sid.ir/paper/255381/en

Vancouver: Copy

VAGHEI Y., FARSHIDIANFAR A.. TRAJECTORY TRACKING OF UNDER-ACTUATED NONLINEAR DYNAMIC ROBOTS: ADAPTIVE FUZZY HIERARCHICAL TERMINAL SLIDING-MODE CONTROL. JOURNAL OF ARTIFICIAL INTELLIGENCE AND DATA MINING[Internet]. 2016;4(1):93-102. Available from: https://sid.ir/paper/255381/en

IEEE: Copy

Y. VAGHEI, and A. FARSHIDIANFAR, “TRAJECTORY TRACKING OF UNDER-ACTUATED NONLINEAR DYNAMIC ROBOTS: ADAPTIVE FUZZY HIERARCHICAL TERMINAL SLIDING-MODE CONTROL,” JOURNAL OF ARTIFICIAL INTELLIGENCE AND DATA MINING, vol. 4, no. 1, pp. 93–102, 2016, [Online]. Available: https://sid.ir/paper/255381/en

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