Trajectory Tracking Control of Industrial Manipulator Using Adaptive Type-2 Fuzzy Sliding Mode Controller
作者单位：College of Information Science and Engineering Northeastern University School of Humanities and Law Northeastern University
会议名称：《第三十九届中国控制会议》
会议日期：2020年
学科分类：08[工学] 080202[工学-机械电子工程] 0802[工学-机械工程]
关 键 词：Industrial manipulator adaptive sliding mode controller type-2 fuzzy control trajectory tracking
摘 要：The industrial manipulator is a non-linear, strongly coupled, time-varying system, and it is affected by various uncertain factors such as unmodeled dynamics, parameter changes, external disturbances, and friction. These uncertain factors will cause the tracking accuracy of the joints of the manipulator to deteriorate, which will lead to the instability of the entire manipulator system. Therefore, it is of great significance to achieve improved trajectory tracking precision of the manipulator and make the robotic arm have good dynamic performance. A new controller is designed in this paper. The controller uses a low-pass filter to reduce the chattering signal in the sliding mode control. Then, the type-2 fuzzy control is designed to simulate the external disturbance signal and the dynamic uncertain signal, so that the controller can effectively suppress the chattering caused by the sliding mode control algorithm, improve the robustness of the industrial manipulator control system, and effectively realize the high-precision track tracking control of the manipulator.