Abstract
The external disturbances and backlash hysteresis kind of nonlinearity present in the manipulator system can greatly affect the tracking performance of the system. In order to undo the effects of these external disturbances and backlash hysteresis, a robust controller is established based on the integration of self-tuning fuzzy nonsingular proportional-integral-derivative (PID) type fast terminal sliding mode control and time delay estimation (TDE). In this paper, TDE plays the part of estimating the unknown dynamics of the robotic manipulator and nonsingular PID type fast terminal sliding mode control in which the gains of PID are tuned using fuzzy logic system to get multiple beneficial characteristics, such as lower steady-state error, finite-time convergence and little chattering. In addition, the derivative of unknown dynamics that is considered to be bounded is dealt by utilizing the adaptive technique. Moreover, Lyapunov theorem is used to study the overall stability of the system. Finally, a comparative study in terms of trajectory tracking has been carried out between the proposed controller and other existing advanced control approaches using PUMA560 robot in order to verify the effectiveness of the proposed controller in the presence of external disturbances and bacsklash hysteresis.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: Transactions of the Institute of Measurement and Control
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
