Adaptive synchronous sliding control for a robot manipulator based on neural networks and fuzzy logic

摘要

Robot manipulators have become important equipment in production lines, medical fields, and transportation. Improving the quality of trajectory tracking for robot hands is always an attractive topic in the research community. This is a challenging problem because robot manipulators are complex nonlinear systems and are often subject to fluctuations in loads and external disturbances. This article proposes an adaptive synchronous sliding control scheme to improve trajectory tracking performance for a robot manipulator. The proposed controller ensures that the positions of the joints track the desired trajectory, synchronize the errors, and significantly reduces chattering. First, the synchronous tracking errors and synchronous sliding surfaces are presented. Second, the synchronous tracking error dynamics are determined. Third, a robust adaptive control law is designed, the unknown components of the model are estimated online by the neural network, and the parameters of the switching elements are selected by fuzzy logic. The built algorithm ensures that the tracking and approximation errors are ultimately uniformly bounded (UUB). Finally, the effectiveness of the constructed algorithm is demonstrated through simulation and experimental results. Simulation and experimental results show that the proposed controller is effective with small synchronous tracking errors, and the chattering phenomenon is significantly reduced.