| Autor: |
Elawady, Wael M., Asar, Mohammed F., Sarhan, Amany M. |
| Předmět: |
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| Zdroj: |
Control & Cybernetics; 2019, Vol. 48 Issue 4, p525-555, 31p |
| Abstrakt: |
This paper presents a feasible design for a con- trol algorithm to synthesize an adaptive neuro-fuzzy inference system-based PID continuous sliding mode control system (ANFIS- PIDCSMC) for adaptive trajectory tracking control of the rigid robot manipulators (RRMs) in the joint space. First, a PID sliding mode control algorithm with sliding surface dynamics-based contin- uous proportional-integral (PI) control action (PIDSMC-SSDCPI) is presented. The global stability conditions are formulated in terms of Lyapunov full quadratic form such that the robot system out- put can track the desired reference output. Second, to increase the control system robustness, the PI control action in the PIDSMC- SSDCPI controller is supplanted by an ANFIS control signal to pro- vide a control approach that can be termed adaptive neuro-fuzzy inference system-based PID continuous sliding mode control system (ANFIS-PIDCSMC). For the proposed control algorithm, numeri- cal simulations using the dynamic model of RRM with uncertainties and external disturbances show high quality and effectiveness of the adopted control approach in high-speed trajectory tracking control problems. The simulation results that are compared with the re- sults, obtained for the traditional controllers (standalone PID and traditional sliding mode controller (TSMC)), illustrate the fact that the tracking control behavior of the robot system achieves acceptable tracking performance. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Supplemental Index |
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