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Evolutionary Design of Backstepping Artificial Sliding Mode Based Position Algorithm: Applied to Robot Manipulator.

This paper expands a fuzzy sliding mode based position controller whose sliding function is on-line tunedby backstepping methodology. The main goal is to guarantee acceptable position trajectories trackingbetween the robot manipulator end-effector and the input desired position. The fuzzy controller...

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Main Authors: Sulaiman, Nasri, Piltan, Farzin, Roosta, Samaneh, Gavahian, Atefeh, Soltani, Samira
Format: Article
Language:English
Published: 2011
Online Access:http://psasir.upm.edu.my/id/eprint/23317/
http://www.oalib.com/paper/2086960#.VC4MDxbnNko
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spelling my.upm.eprints.233172014-10-03T03:01:55Z http://psasir.upm.edu.my/id/eprint/23317/ Evolutionary Design of Backstepping Artificial Sliding Mode Based Position Algorithm: Applied to Robot Manipulator. Sulaiman, Nasri Piltan, Farzin Roosta, Samaneh Gavahian, Atefeh Soltani, Samira This paper expands a fuzzy sliding mode based position controller whose sliding function is on-line tunedby backstepping methodology. The main goal is to guarantee acceptable position trajectories trackingbetween the robot manipulator end-effector and the input desired position. The fuzzy controller inproposed fuzzy sliding mode controller is based on Mamdani’s fuzzy inference system (FIS) and it has oneinput and one output. The input represents the function between sliding function, error and the rate oferror. The second input is the angle formed by the straight line defined with the orientation of the robot,and the straight line that connects the robot with the reference cart. The outputs represent angularposition, velocity and acceleration commands, respectively. The backstepping methodology is on-line tunethe sliding function based on self tuning methodology. The performance of the backstepping on-line tunefuzzy sliding mode controller (TBsFSMC) is validated through comparison with previously developed robotmanipulator position controller based on adaptive fuzzy sliding mode control theory (AFSMC). Simulationresults signify good performance of position tracking in presence of uncertainty and external disturbance. 2011 Article PeerReviewed Sulaiman, Nasri and Piltan, Farzin and Roosta, Samaneh and Gavahian, Atefeh and Soltani, Samira (2011) Evolutionary Design of Backstepping Artificial Sliding Mode Based Position Algorithm: Applied to Robot Manipulator. International Journal of Engineering, 5 (5). 419 - 434. ISSN 1985-2312 http://www.oalib.com/paper/2086960#.VC4MDxbnNko English
institution Universiti Putra Malaysia
building UPM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Putra Malaysia
content_source UPM Institutional Repository
url_provider http://psasir.upm.edu.my/
language English
description This paper expands a fuzzy sliding mode based position controller whose sliding function is on-line tunedby backstepping methodology. The main goal is to guarantee acceptable position trajectories trackingbetween the robot manipulator end-effector and the input desired position. The fuzzy controller inproposed fuzzy sliding mode controller is based on Mamdani’s fuzzy inference system (FIS) and it has oneinput and one output. The input represents the function between sliding function, error and the rate oferror. The second input is the angle formed by the straight line defined with the orientation of the robot,and the straight line that connects the robot with the reference cart. The outputs represent angularposition, velocity and acceleration commands, respectively. The backstepping methodology is on-line tunethe sliding function based on self tuning methodology. The performance of the backstepping on-line tunefuzzy sliding mode controller (TBsFSMC) is validated through comparison with previously developed robotmanipulator position controller based on adaptive fuzzy sliding mode control theory (AFSMC). Simulationresults signify good performance of position tracking in presence of uncertainty and external disturbance.
format Article
author Sulaiman, Nasri
Piltan, Farzin
Roosta, Samaneh
Gavahian, Atefeh
Soltani, Samira
spellingShingle Sulaiman, Nasri
Piltan, Farzin
Roosta, Samaneh
Gavahian, Atefeh
Soltani, Samira
Evolutionary Design of Backstepping Artificial Sliding Mode Based Position Algorithm: Applied to Robot Manipulator.
author_facet Sulaiman, Nasri
Piltan, Farzin
Roosta, Samaneh
Gavahian, Atefeh
Soltani, Samira
author_sort Sulaiman, Nasri
title Evolutionary Design of Backstepping Artificial Sliding Mode Based Position Algorithm: Applied to Robot Manipulator.
title_short Evolutionary Design of Backstepping Artificial Sliding Mode Based Position Algorithm: Applied to Robot Manipulator.
title_full Evolutionary Design of Backstepping Artificial Sliding Mode Based Position Algorithm: Applied to Robot Manipulator.
title_fullStr Evolutionary Design of Backstepping Artificial Sliding Mode Based Position Algorithm: Applied to Robot Manipulator.
title_full_unstemmed Evolutionary Design of Backstepping Artificial Sliding Mode Based Position Algorithm: Applied to Robot Manipulator.
title_sort evolutionary design of backstepping artificial sliding mode based position algorithm: applied to robot manipulator.
publishDate 2011
url http://psasir.upm.edu.my/id/eprint/23317/
http://www.oalib.com/paper/2086960#.VC4MDxbnNko
_version_ 1643828022232481792
score 13.211869

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