Robust Sliding Mode Fuzzy Control of Industrial Robots Using an Extended Kalman Filter Inverse Kinematic Solver

Mojtaba Ahmadieh Khanesar and David Branson
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Mojtaba Ahmadieh Khanesar: Faculty of Engineering, University of Nottingham, Nottingham NG7 2RD, UK
David Branson: Faculty of Engineering, University of Nottingham, Nottingham NG7 2RD, UK

Energies, 2022, vol. 15, issue 5, 1-17

Abstract: This paper presents a sliding mode fuzzy control approach for industrial robots at their static and near static speed (linear velocities less than 5 cm/s). The extended Kalman filter with its covariance resetting is used to translate the coordinates from Cartesian to joint angle space. The translated joint angles are then used as a reference signal to control the industrial robot dynamics using a sliding mode fuzzy controller. The stability and robustness of the proposed controller is proven using an appropriate Lyapunov function in the presence of parameter uncertainty and unknown dynamic friction. The proposed controller is simulated on a 6-DOF industrial robot, namely the Universal Robot-UR5, considering the maximum allowable joint torques. It is observed that the proposed controller can successfully control UR5 under uncertainties in terms of unknown dynamic friction and parameter uncertainties. The tracking performance of the proposed controller is compared with that of the sliding mode control approach. The simulation results demonstrate superior performance of the proposed approach over the sliding mode control method in the presence of uncertainties.

Keywords: industrial robot control; sliding mode fuzzy control; inverse kinematic; extended Kalman filter (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2022
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (4)

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