Trajectory Tracking of a Flexible Robot Manipulator by a New Optimized Fuzzy Adaptive Sliding Mode-Based Feedback Linearization Controller
This work presents a novel fuzzy adaptive sliding mode-based feedback linearization controller for trajectory tracking of a flexible robot manipulator. To reach this goal, after deriving the dynamical equations of the robot, the feedback linearization approach is utilized to change the nonlinear dyn...
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2020/8813217 |
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| author | M. J. Mahmoodabadi N. Nejadkourki |
| author_facet | M. J. Mahmoodabadi N. Nejadkourki |
| author_sort | M. J. Mahmoodabadi |
| collection | DOAJ |
| description | This work presents a novel fuzzy adaptive sliding mode-based feedback linearization controller for trajectory tracking of a flexible robot manipulator. To reach this goal, after deriving the dynamical equations of the robot, the feedback linearization approach is utilized to change the nonlinear dynamics to a linear one and find the control law. Then, the sliding mode control strategy is implemented to design a stabilizer for trajectory tracking of the flexible robot. In order to adaptively tune the parameters of the designed controller, the gradient descent approach and the chain derivative rule are employed. Moreover, the Takagi–Sugeno–Kang fuzzy system is applied to regulate the controller gains. Finally, a multiobjective particle swarm optimization algorithm is used to find the optimum fuzzy rules. The conflicting objective functions considered as the integrals of the absolute values of the state error and the control effort should be minimized, simultaneously. The simulation results illustrate the effectiveness and capability of the introduced scenario in comparison with other methods. |
| format | Article |
| id | doaj-art-ecf79c07e3104994b79c683689bb1f56 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-ecf79c07e3104994b79c683689bb1f562025-02-03T01:04:30ZengWileyJournal of Robotics1687-96001687-96192020-01-01202010.1155/2020/88132178813217Trajectory Tracking of a Flexible Robot Manipulator by a New Optimized Fuzzy Adaptive Sliding Mode-Based Feedback Linearization ControllerM. J. Mahmoodabadi0N. Nejadkourki1Department of Mechanical Engineering, Sirjan University of Technology, Sirjan, IranDepartment of Mechanical Engineering, Sirjan University of Technology, Sirjan, IranThis work presents a novel fuzzy adaptive sliding mode-based feedback linearization controller for trajectory tracking of a flexible robot manipulator. To reach this goal, after deriving the dynamical equations of the robot, the feedback linearization approach is utilized to change the nonlinear dynamics to a linear one and find the control law. Then, the sliding mode control strategy is implemented to design a stabilizer for trajectory tracking of the flexible robot. In order to adaptively tune the parameters of the designed controller, the gradient descent approach and the chain derivative rule are employed. Moreover, the Takagi–Sugeno–Kang fuzzy system is applied to regulate the controller gains. Finally, a multiobjective particle swarm optimization algorithm is used to find the optimum fuzzy rules. The conflicting objective functions considered as the integrals of the absolute values of the state error and the control effort should be minimized, simultaneously. The simulation results illustrate the effectiveness and capability of the introduced scenario in comparison with other methods.http://dx.doi.org/10.1155/2020/8813217 |
| spellingShingle | M. J. Mahmoodabadi N. Nejadkourki Trajectory Tracking of a Flexible Robot Manipulator by a New Optimized Fuzzy Adaptive Sliding Mode-Based Feedback Linearization Controller Journal of Robotics |
| title | Trajectory Tracking of a Flexible Robot Manipulator by a New Optimized Fuzzy Adaptive Sliding Mode-Based Feedback Linearization Controller |
| title_full | Trajectory Tracking of a Flexible Robot Manipulator by a New Optimized Fuzzy Adaptive Sliding Mode-Based Feedback Linearization Controller |
| title_fullStr | Trajectory Tracking of a Flexible Robot Manipulator by a New Optimized Fuzzy Adaptive Sliding Mode-Based Feedback Linearization Controller |
| title_full_unstemmed | Trajectory Tracking of a Flexible Robot Manipulator by a New Optimized Fuzzy Adaptive Sliding Mode-Based Feedback Linearization Controller |
| title_short | Trajectory Tracking of a Flexible Robot Manipulator by a New Optimized Fuzzy Adaptive Sliding Mode-Based Feedback Linearization Controller |
| title_sort | trajectory tracking of a flexible robot manipulator by a new optimized fuzzy adaptive sliding mode based feedback linearization controller |
| url | http://dx.doi.org/10.1155/2020/8813217 |
| work_keys_str_mv | AT mjmahmoodabadi trajectorytrackingofaflexiblerobotmanipulatorbyanewoptimizedfuzzyadaptiveslidingmodebasedfeedbacklinearizationcontroller AT nnejadkourki trajectorytrackingofaflexiblerobotmanipulatorbyanewoptimizedfuzzyadaptiveslidingmodebasedfeedbacklinearizationcontroller |