Design of a Fuzzy-Sliding Mode Controller for a SCARA Robot to Reduce Chattering

• Published in: Journal of mechanical science and technology Vol. 15; no. 3; pp. 339 - 350
• Main Authors: Go, Seok Jo, Lee, Min Cheol
• Format: Journal Article
• Language: English
• Published: Seoul 대한기계학회 01.03.2001; Korean Society of Mechanical Engineers; Springer Nature B.V
• Subjects: Algorithms; Applied sciences; Computer science; control theory; systems; Control algorithms; Control system synthesis; Control theory; Control theory. Systems; Digital signal processing; Exact sciences and technology; High speed; Payloads; Robotics; Robots; Sliding mode control; Studies; Vibration; Robust control; Fuzzy logic; Fuzzy control; Unmodeled dynamics; Sliding mode; Variable structure system; Control synthesis; Dead zone; Robotics; Chatter; Manipulator
• ISSN: 1226-4865; 1738-494X; 1976-3824
• DOI: 10.1007/BF03185217

To overcome problems in tracking error related to the unmodeled dynamics in the high speed operation of industrial robots, many researchers have used sliding mode control, which is robust against parameter variations and payload changes. However, these algorithms cannot reduce the inherent chattering which is caused by excessive switching inputs around the sliding surface. This study proposes a fuzzy-sliding mode control algorithm to reduce the chattering of the sliding mode control by fuzzy rules within a pre-determined dead zone. Trajectory tracking simulations and experiments show that chattering can be reduced prominently by the fuzzysliding mode control algorithm compared to a sliding mode control with two dead zones, and the proposed control algorithm is robust to changes in payload. The proposed control algorithm is implemented to the SCARA (selected compliance articulated robot assembly) robot using a DSP (digital signal processor) for high speed calculations.[PUBLICATION ABSTRACT]