Composite Error-Based Intelligent Adaptive Sliding Mode Control for Uncertain Bilaterally Symmetrical Hybrid Robot with Variational Desired Trajectories

摘要

Some challenging issues exist in trajectory tracking control of an uncertain bilaterally symmetrical hybrid robot (UBSHR) with variational desired trajectories, mainly the uncertainty problem of UBSHR, the synchronization problem of UBSHR’s active joints and bilateral symmetrical hybrid mechanisms, and the flexible control problem of active adaption to different technological requirements without artificially adjusting the control parameters or switching the hardware system. To solve these problems, an adaptive fuzzy neural network in conjunction with subtractive clustering algorithm (SC-AFNN) for UBSHR is proposed. More specifically, a novel composite error is incorporated into the second-order sliding mode control method to generate ideal training data samples and to improve the uncertain system robustness and synchronization performance simultaneously. Furthermore, the SC-AFNN is introduced to realize self-learning and self-adjusting of control rules and control parameters and to enhance the flexible control performance of UBSHR with variational desired trajectories. Strict theoretical proof of the defined errors’ relationship and the stability of the poposed control method is given. Ultimately, simulations and experiments for the prototype system of an UBSHR are conducted to verify the effectiveness of the proposed control method.