MIMO fuzzy sliding mode controlled dual arm robot in load transportation

The control problem of the cooperative motion of a two-link dual arm robot during handling and transportation of an object was studied in this paper. Since these types of robots are frequently preferred for hazardous applications such as transportation of radioactive materials and disposal of explos...

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Bibliographic Details
Published inJournal of the Franklin Institute Vol. 348; no. 8; pp. 1886 - 1902
Main Authors Hacioglu, Yuksel, Arslan, Yunus Ziya, Yagiz, Nurkan
Format Journal Article
LanguageEnglish
Published Kidlington Elsevier Ltd 01.10.2011
Elsevier
Subjects
Adaptative systems
Applied sciences
Computer science; control theory; systems
Control system analysis
Control theory. Systems
Exact sciences and technology
Fuzzy
Fuzzy logic
Materials handling
Mathematical models
Robotics
Robots
Sheet molding compounds
Sliding mode
Transportation
MIMO system
Disturbance rejection
Sliding mode
Material transportation
Adaptive control
Robotics
Chatter
Fuzzy logic
Fuzzy control
Multiagent system
Sudden variation
Cooperation
Linkage mechanism
Distributed control
Tracking error
Dual control
Arm
Motion control
Hazard
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Summary:The control problem of the cooperative motion of a two-link dual arm robot during handling and transportation of an object was studied in this paper. Since these types of robots are frequently preferred for hazardous applications such as transportation of radioactive materials and disposal of explosives, a robust non-chattering sliding mode controller (SMC) improved by a multiple-input multiple-output (MIMO) fuzzy logic unit was applied to the robot to track the desired trajectory with high accuracy and transport the load safely. In order to assess the performance of the proposed MIMO fuzzy sliding mode controller (MIMO-FSMC) in presence of parameter variations and external disturbances, a sudden load variation and noise were introduced to the robot system. If compared with classical SMC, tracking errors with smaller magnitudes and faster convergence to zero were obtained by using the proposed MIMO-FSMC. Numerical results suggest that this type of control method may safely be used for cooperative motion control of dual arm robots in load handling and transport applications in hazardous environments with high accuracy.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
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content type line 23
ISSN:0016-0032
1879-2693
DOI:10.1016/j.jfranklin.2011.05.009