Experimental Investigation of the Boundary Layer-Based Sliding Mode Control and Single-Input Model-Based Sliding Mode Fuzzy Logic Control With Applications to Robot Manipulators

Links

Abstract and keywords

This thesis provides an experimental investigation of the boundary layer-based Sliding Mode Control (SMC) and single-input model-based Sliding Mode Fuzzy Logic Control (SMFLC). Comparisons of SMC and SMFLC and of SMFLC with the traditional Proportional-Integral-Derivative (PID) control are provided. A boundary layer-based sliding mode controller (SMCer) was designed according to the theory of Slotine et al. (1991). In addition, a single-input model-based sliding mode fuzzy logic controller (SMFLCer) was designed following a proposed approach. Then, the SMCer and SMFLCer were applied to the tracking control problem of a real robot manipulator for various trajectories and end-effector payloads. The results obtained from these controllers are analyzed and compared. Finally, a well-tuned PID controller is applied to the tracking control problem of a robot arm in various operating conditions, and the results are compared with those of the SMFLCer.

Keywords:

Cited Works (4)

Year	Entry
1997	Kircanski NM, Goldenberg AA. An experimental study of nonlinear stiffness, hysteresis, and friction effects in robot joints with harmonic drives and torque sensors. Int J Robot Res. April 1997;16(2):214-239.
1997	Emami MR. Systematic Methodology of Fuzzy-Logic Modeling and Control and Application to Robotics [PhD thesis]. University of Toronto; 1997.
1998	Melek WW. On the Robustness of a Systematic Methodology of Fuzzy-Logic Modeling [Master's thesis]. University of Toronto; 1998.
1993	Lu Z. Sliding Mode-Based Impedance Control and Force Regulation [PhD thesis]. University of Toronto; 1993.

Cited By (1)

Year	Entry
2002	Chen W. Recurrent Neural Networks Applied to Robotic Motion Control [Master's thesis]. University of Toronto; 2002.