Trajectory-Tracking Control for Manipulators Based on Fuzzy Equivalence and a Terminal Sliding Mode

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LIU, Youyu ;LI, Yi ;ZHANG, Xuyou ;CHEN, Bo .
Trajectory-Tracking Control for Manipulators Based on Fuzzy Equivalence and a Terminal Sliding Mode. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 67, n.9, p. 433-444, september 2021. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/sl/article/trajectory-tracking-control-for-manipulators-based-on-fuzzy-equivalence-terminal-sliding-mode/>. Date accessed: 06 dec. 2022. 
doi:http://dx.doi.org/10.5545/sv-jme.2021.7220.
Liu, Y., Li, Y., Zhang, X., & Chen, B.
(2021).
Trajectory-Tracking Control for Manipulators Based on Fuzzy Equivalence and a Terminal Sliding Mode.
Strojniški vestnik - Journal of Mechanical Engineering, 67(9), 433-444.
doi:http://dx.doi.org/10.5545/sv-jme.2021.7220
@article{sv-jmesv-jme.2021.7220,
	author = {Youyu  Liu and Yi  Li and Xuyou  Zhang and Bo  Chen},
	title = {Trajectory-Tracking Control for Manipulators Based on Fuzzy Equivalence and a Terminal Sliding Mode},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {67},
	number = {9},
	year = {2021},
	keywords = {sliding mode control, fuzzy switch term, chattering, manipulator, trajectory tracking},
	abstract = {To suppress the chattering of manipulators under heavy-load operations, a control method called fuzzy equivalence & terminal sliding mode (FETSM) was applied to the trajectory tracking of motion curves for manipulators. Based on the switching term of the equivalent sliding mode (ESM), a fuzzy parameter matrix processed by the simple fuzzy rules was introduced, and the fuzzy switching term was obtained. By summing the fuzzy switching term and the equivalent term of the equivalence and a terminal sliding mode (ETSM), the control law of the FETSM for manipulators was obtained. On this basis, the stability of the system was analysed and the finite arrival time of it was deduced. On the premise of ensuring the stability of the system, the fuzzy rules and membership functions were designed for the fuzzy constants in the fuzzy switching term. Simulation tests show that the proposed FETSM can ensure sufficient trajectory-tracking precision, error convergence speed, and robustness. Compared with the ETSM, the proposed FETSM can reduce the chattering time by 94.75 % on average; compared with the proportion-integral-differential (PID) control method, the maximum chattering amplitude by the FETSM can be reduced by at least 99.21 %. Thus, the proposed FETSM is suitable for those manipulators under heavy-load operations.},
	issn = {0039-2480},	pages = {433-444},	doi = {10.5545/sv-jme.2021.7220},
	url = {https://www.sv-jme.eu/sl/article/trajectory-tracking-control-for-manipulators-based-on-fuzzy-equivalence-terminal-sliding-mode/}
}
Liu, Y.,Li, Y.,Zhang, X.,Chen, B.
2021 September 67. Trajectory-Tracking Control for Manipulators Based on Fuzzy Equivalence and a Terminal Sliding Mode. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 67:9
%A Liu, Youyu 
%A Li, Yi 
%A Zhang, Xuyou 
%A Chen, Bo 
%D 2021
%T Trajectory-Tracking Control for Manipulators Based on Fuzzy Equivalence and a Terminal Sliding Mode
%B 2021
%9 sliding mode control, fuzzy switch term, chattering, manipulator, trajectory tracking
%! Trajectory-Tracking Control for Manipulators Based on Fuzzy Equivalence and a Terminal Sliding Mode
%K sliding mode control, fuzzy switch term, chattering, manipulator, trajectory tracking
%X To suppress the chattering of manipulators under heavy-load operations, a control method called fuzzy equivalence & terminal sliding mode (FETSM) was applied to the trajectory tracking of motion curves for manipulators. Based on the switching term of the equivalent sliding mode (ESM), a fuzzy parameter matrix processed by the simple fuzzy rules was introduced, and the fuzzy switching term was obtained. By summing the fuzzy switching term and the equivalent term of the equivalence and a terminal sliding mode (ETSM), the control law of the FETSM for manipulators was obtained. On this basis, the stability of the system was analysed and the finite arrival time of it was deduced. On the premise of ensuring the stability of the system, the fuzzy rules and membership functions were designed for the fuzzy constants in the fuzzy switching term. Simulation tests show that the proposed FETSM can ensure sufficient trajectory-tracking precision, error convergence speed, and robustness. Compared with the ETSM, the proposed FETSM can reduce the chattering time by 94.75 % on average; compared with the proportion-integral-differential (PID) control method, the maximum chattering amplitude by the FETSM can be reduced by at least 99.21 %. Thus, the proposed FETSM is suitable for those manipulators under heavy-load operations.
%U https://www.sv-jme.eu/sl/article/trajectory-tracking-control-for-manipulators-based-on-fuzzy-equivalence-terminal-sliding-mode/
%0 Journal Article
%R 10.5545/sv-jme.2021.7220
%& 433
%P 12
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 67
%N 9
%@ 0039-2480
%8 2021-09-28
%7 2021-09-28
Liu, Youyu, Yi  Li, Xuyou  Zhang, & Bo  Chen.
"Trajectory-Tracking Control for Manipulators Based on Fuzzy Equivalence and a Terminal Sliding Mode." Strojniški vestnik - Journal of Mechanical Engineering [Online], 67.9 (2021): 433-444. Web.  06 Dec. 2022
TY  - JOUR
AU  - Liu, Youyu 
AU  - Li, Yi 
AU  - Zhang, Xuyou 
AU  - Chen, Bo 
PY  - 2021
TI  - Trajectory-Tracking Control for Manipulators Based on Fuzzy Equivalence and a Terminal Sliding Mode
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2021.7220
KW  - sliding mode control, fuzzy switch term, chattering, manipulator, trajectory tracking
N2  - To suppress the chattering of manipulators under heavy-load operations, a control method called fuzzy equivalence & terminal sliding mode (FETSM) was applied to the trajectory tracking of motion curves for manipulators. Based on the switching term of the equivalent sliding mode (ESM), a fuzzy parameter matrix processed by the simple fuzzy rules was introduced, and the fuzzy switching term was obtained. By summing the fuzzy switching term and the equivalent term of the equivalence and a terminal sliding mode (ETSM), the control law of the FETSM for manipulators was obtained. On this basis, the stability of the system was analysed and the finite arrival time of it was deduced. On the premise of ensuring the stability of the system, the fuzzy rules and membership functions were designed for the fuzzy constants in the fuzzy switching term. Simulation tests show that the proposed FETSM can ensure sufficient trajectory-tracking precision, error convergence speed, and robustness. Compared with the ETSM, the proposed FETSM can reduce the chattering time by 94.75 % on average; compared with the proportion-integral-differential (PID) control method, the maximum chattering amplitude by the FETSM can be reduced by at least 99.21 %. Thus, the proposed FETSM is suitable for those manipulators under heavy-load operations.
UR  - https://www.sv-jme.eu/sl/article/trajectory-tracking-control-for-manipulators-based-on-fuzzy-equivalence-terminal-sliding-mode/
@article{{sv-jme}{sv-jme.2021.7220},
	author = {Liu, Y., Li, Y., Zhang, X., Chen, B.},
	title = {Trajectory-Tracking Control for Manipulators Based on Fuzzy Equivalence and a Terminal Sliding Mode},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {67},
	number = {9},
	year = {2021},
	doi = {10.5545/sv-jme.2021.7220},
	url = {https://www.sv-jme.eu/sl/article/trajectory-tracking-control-for-manipulators-based-on-fuzzy-equivalence-terminal-sliding-mode/}
}
TY  - JOUR
AU  - Liu, Youyu 
AU  - Li, Yi 
AU  - Zhang, Xuyou 
AU  - Chen, Bo 
PY  - 2021/09/28
TI  - Trajectory-Tracking Control for Manipulators Based on Fuzzy Equivalence and a Terminal Sliding Mode
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 67, No 9 (2021): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2021.7220
KW  - sliding mode control, fuzzy switch term, chattering, manipulator, trajectory tracking
N2  - To suppress the chattering of manipulators under heavy-load operations, a control method called fuzzy equivalence & terminal sliding mode (FETSM) was applied to the trajectory tracking of motion curves for manipulators. Based on the switching term of the equivalent sliding mode (ESM), a fuzzy parameter matrix processed by the simple fuzzy rules was introduced, and the fuzzy switching term was obtained. By summing the fuzzy switching term and the equivalent term of the equivalence and a terminal sliding mode (ETSM), the control law of the FETSM for manipulators was obtained. On this basis, the stability of the system was analysed and the finite arrival time of it was deduced. On the premise of ensuring the stability of the system, the fuzzy rules and membership functions were designed for the fuzzy constants in the fuzzy switching term. Simulation tests show that the proposed FETSM can ensure sufficient trajectory-tracking precision, error convergence speed, and robustness. Compared with the ETSM, the proposed FETSM can reduce the chattering time by 94.75 % on average; compared with the proportion-integral-differential (PID) control method, the maximum chattering amplitude by the FETSM can be reduced by at least 99.21 %. Thus, the proposed FETSM is suitable for those manipulators under heavy-load operations.
UR  - https://www.sv-jme.eu/sl/article/trajectory-tracking-control-for-manipulators-based-on-fuzzy-equivalence-terminal-sliding-mode/
Liu, Youyu, Li, Yi, Zhang, Xuyou, AND Chen, Bo.
"Trajectory-Tracking Control for Manipulators Based on Fuzzy Equivalence and a Terminal Sliding Mode" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 67 Number 9 (28 September 2021)

Avtorji

Inštitucije

  • Anhui Polytechnic University, School of Mechanical Engineering, China 1

Informacije o papirju

Strojniški vestnik - Journal of Mechanical Engineering 67(2021)9, 433-444
© The Authors, CC-BY 4.0 Int. Change in copyright policy from 2022, Jan 1st.

https://doi.org/10.5545/sv-jme.2021.7220

To suppress the chattering of manipulators under heavy-load operations, a control method called fuzzy equivalence & terminal sliding mode (FETSM) was applied to the trajectory tracking of motion curves for manipulators. Based on the switching term of the equivalent sliding mode (ESM), a fuzzy parameter matrix processed by the simple fuzzy rules was introduced, and the fuzzy switching term was obtained. By summing the fuzzy switching term and the equivalent term of the equivalence and a terminal sliding mode (ETSM), the control law of the FETSM for manipulators was obtained. On this basis, the stability of the system was analysed and the finite arrival time of it was deduced. On the premise of ensuring the stability of the system, the fuzzy rules and membership functions were designed for the fuzzy constants in the fuzzy switching term. Simulation tests show that the proposed FETSM can ensure sufficient trajectory-tracking precision, error convergence speed, and robustness. Compared with the ETSM, the proposed FETSM can reduce the chattering time by 94.75 % on average; compared with the proportion-integral-differential (PID) control method, the maximum chattering amplitude by the FETSM can be reduced by at least 99.21 %. Thus, the proposed FETSM is suitable for those manipulators under heavy-load operations.

sliding mode control, fuzzy switch term, chattering, manipulator, trajectory tracking