IDEAS home Printed from https://ideas.repec.org/a/gam/jeners/v15y2022i5p1876-d763453.html
   My bibliography  Save this article

Robust Sliding Mode Fuzzy Control of Industrial Robots Using an Extended Kalman Filter Inverse Kinematic Solver

Author

Listed:
  • Mojtaba Ahmadieh Khanesar

    (Faculty of Engineering, University of Nottingham, Nottingham NG7 2RD, UK)

  • David Branson

    (Faculty of Engineering, University of Nottingham, Nottingham NG7 2RD, UK)

Abstract

This paper presents a sliding mode fuzzy control approach for industrial robots at their static and near static speed (linear velocities less than 5 cm/s). The extended Kalman filter with its covariance resetting is used to translate the coordinates from Cartesian to joint angle space. The translated joint angles are then used as a reference signal to control the industrial robot dynamics using a sliding mode fuzzy controller. The stability and robustness of the proposed controller is proven using an appropriate Lyapunov function in the presence of parameter uncertainty and unknown dynamic friction. The proposed controller is simulated on a 6-DOF industrial robot, namely the Universal Robot-UR5, considering the maximum allowable joint torques. It is observed that the proposed controller can successfully control UR5 under uncertainties in terms of unknown dynamic friction and parameter uncertainties. The tracking performance of the proposed controller is compared with that of the sliding mode control approach. The simulation results demonstrate superior performance of the proposed approach over the sliding mode control method in the presence of uncertainties.

Suggested Citation

  • Mojtaba Ahmadieh Khanesar & David Branson, 2022. "Robust Sliding Mode Fuzzy Control of Industrial Robots Using an Extended Kalman Filter Inverse Kinematic Solver," Energies, MDPI, vol. 15(5), pages 1-17, March.
  • Handle: RePEc:gam:jeners:v:15:y:2022:i:5:p:1876-:d:763453
    as

    Download full text from publisher

    File URL: https://www.mdpi.com/1996-1073/15/5/1876/pdf
    Download Restriction: no

    File URL: https://www.mdpi.com/1996-1073/15/5/1876/
    Download Restriction: no
    ---><---

    References listed on IDEAS

    as
    1. Jinhong Sun & Xiangdang Xue & Ka Wai Eric Cheng, 2019. "Fuzzy Sliding Mode Wheel Slip Ratio Control for Smart Vehicle Anti-Lock Braking System," Energies, MDPI, vol. 12(13), pages 1-22, June.
    2. Jiachun Lin & Yuteng Zhao & Pan Zhang & Junjie Wang & Hao Su, 2021. "Research on Compound Sliding Mode Control of a Permanent Magnet Synchronous Motor in Electromechanical Actuators," Energies, MDPI, vol. 14(21), pages 1-17, November.
    3. Mateusz Pietrala & Piotr Leśniewski & Andrzej Bartoszewicz, 2021. "Sliding Mode Control with Minimization of the Regulation Time in the Presence of Control Signal and Velocity Constraints," Energies, MDPI, vol. 14(10), pages 1-23, May.
    Full references (including those not matched with items on IDEAS)

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Yassine Bouteraa & Khalid A. Alattas & Obaid Alshammari & Sondess Ben Aoun & Mohamed Amin Regaieg & Saleh Mobayen, 2022. "Interval Fuzzy Type-2 Sliding Mode Control Design of Six-DOF Robotic Manipulator," Mathematics, MDPI, vol. 10(24), pages 1-52, December.
    2. Mai The Vu & Khalid A. Alattas & Yassine Bouteraa & Reza Rahmani & Afef Fekih & Saleh Mobayen & Wudhichai Assawinchaichote, 2022. "Optimized Fuzzy Enhanced Robust Control Design for a Stewart Parallel Robot," Mathematics, MDPI, vol. 10(11), pages 1-36, June.
    3. Yan Yang & Yeqin Wang & Weixing Zhang & Zhenghao Li & Rui Liang, 2022. "Design of Adaptive Fuzzy Sliding-Mode Control for High-Performance Islanded Inverter in Micro-Grid," Energies, MDPI, vol. 15(23), pages 1-25, December.
    4. Ayman A. Aly & Mai The Vu & Fayez F. M. El-Sousy & Ahmed Alotaibi & Ghassan Mousa & Dac-Nhuong Le & Saleh Mobayen, 2022. "Fuzzy-Based Fixed-Time Nonsingular Tracker of Exoskeleton Robots for Disabilities Using Sliding Mode State Observer," Mathematics, MDPI, vol. 10(17), pages 1-19, September.

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Peter Girovský & Jaroslava Žilková & Ján Kaňuch, 2020. "Optimization of Vehicle Braking Distance Using a Fuzzy Controller," Energies, MDPI, vol. 13(11), pages 1-15, June.
    2. Zhenjie Gong & Xin Ba & Chengning Zhang & Youguang Guo, 2022. "Robust Sliding Mode Control of the Permanent Magnet Synchronous Motor with an Improved Power Reaching Law," Energies, MDPI, vol. 15(5), pages 1-13, March.
    3. Linfeng Lv & Juncheng Wang & Jiangqi Long, 2021. "Interval Type-2 Fuzzy Logic Anti-Lock Braking Control for Electric Vehicles under Complex Road Conditions," Sustainability, MDPI, vol. 13(20), pages 1-23, October.
    4. Xiangdang XUE & Ka Wai Eric CHENG & Wing Wa CHAN & Yat Chi FONG & Kin Lung Jerry KAN & Yulong FAN, 2021. "Design, Analysis and Application of Single-Wheel Test Bench for All-Electric Antilock Braking System in Electric Vehicles," Energies, MDPI, vol. 14(5), pages 1-12, February.
    5. Raja Mazuir Raja Ahsan Shah & Richard Peter Jones & Caizhen Cheng & Alessandro Picarelli & Abd Rashid Abd Aziz & Mansour Al Qubeissi, 2021. "Model-Based Energy Path Analysis of Tip-In Event in a 2WD Vehicle with Range-Extender Electric Powertrain Architecture," Energies, MDPI, vol. 14(18), pages 1-18, September.
    6. Jun Tan & Hao Chen & Xuerong Ye & Yigang Lin, 2022. "A Novel Fault Diagnosis Approach for the Manufacturing Processes of Permanent Magnet Actuators for Renewable Energy Systems," Energies, MDPI, vol. 15(13), pages 1-15, July.
    7. He Wang & Tao Wu & Youguang Guo & Gang Lei & Xinmei Wang, 2023. "Predictive Current Control of Sensorless Linear Permanent Magnet Synchronous Motor," Energies, MDPI, vol. 16(2), pages 1-14, January.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:gam:jeners:v:15:y:2022:i:5:p:1876-:d:763453. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: MDPI Indexing Manager (email available below). General contact details of provider: https://www.mdpi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.