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Design of a Sliding Mode Controller with Fuzzy Rules for a 4-DoF Service Robot

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  • Robot and Applications
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Abstract

In this study, a novel control strategy that combines a fuzzy system and the sliding mode controller is proposed for improving stability and achieving high-accuracy control in service robots. Based on the kinematic and dynamic models of a 4-degrees of freedom manipulator, and the observed tracking error using a low-cost inertial sensor, the proposed fuzzy sliding mode controller (FSMC(IMU)) is designed to generate appropriate torques at robot joints. The FSMC(IMU) controller parameters are adjusted through a fuzzy rule that determines the state of the system. The error in trajectory tracking is reduced through this. The gain value K can be finely adjusted by fuzzy control by observing the degree of vibration after entering the sliding mode surface. The larger the observed vibration value, the faster the fuzzy controller follows the given input trajectory by selecting a smaller gain value K and reducing jitter due to the sliding mode control’s discontinuous switch characteristics. When the degree of error is small, it achieves faster and more accurate control performance than when the observer is not used. The stability of the FSMC(IMU) system is verified via disturbance experiments. The experimental data are compared with the conventional sliding mode controller and proportional-derivative control. The experimental results demonstrate that the proposed FSMC(IMU) controller is stable, fast, and highly accurate in controlling service robots.

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Authors and Affiliations

  1. School of Electronics Engineering, Pusan National University, 40, Jangjeon-dong, Geumjeong-gu, Busan, 46241, Korea

    Le Bao, Dongeon Kim & Jangmyung Lee

  2. School of Electrics Engineering, Pusan National University, 40, Jangjeon-dong, Geumjeong-gu, Busan, 46241, Korea

    Seung-Joon Yi

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  1. Le Bao
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  2. Dongeon Kim
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  3. Seung-Joon Yi
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  4. Jangmyung Lee
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Correspondence to Jangmyung Lee.

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Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

This research was supported by the National Research Foundation of Korea(NRF) grant funded by the Korea government(MSIT) (No. 2019R1A2C2088859).

Le Bao received his B.S. degree in electronics engineering from Daegu University, Korea, in 2018. Now he is pursuing a master’s degree in Pusan National University, Korea. His research interests include robot control, sliding mode control, computer vision, sensor application and virtual reality simulation.

Dongeon Kim received his B.S. degree in electronic engineering from Inje University, Korea, in 2015 and an M.S. degree from Pusan National University, Korea, in 2017. Now he is pursuing a doctoral degree in Pusan National University, Korea, and his research interest includes robot system design, intelligent control, and machine learning.

Seung-Joon Yi received his B.S., M.S., and Ph.D. degrees in electronics engineering from Seoul National University, Seoul, Korea, and has worked as a visiting scholar and a postdoctoral scholar at the University of Pennsylvania. He is currently an assistant professor in the Department of Electrical Engineering at the Pusan National University. His main research interest is leveraging machine learning approaches to build more robust and intelligent robotic systems.

Jangmyung Lee received his B.S. and M.S. degrees in electronics engineering from Seoul National University, Seoul, Korea, in 1980 and 1982, respectively, and his Ph.D. degree in computer engineering from the University of Southern California (USC), Los Angeles, in 1990. Since 1992, he has been a professor with the Intelligent Robot Laboratory, Pusan National University, Busan, Korea. His current research interests include intelligent robotic systems, ubiquitous ports, and intelligent sensor. Prof. Lee is a past president of the Korean Robotics Society, and a Vice president of ICROS. He is also the head of National Robotics Research Center, SPENALO.

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Bao, L., Kim, D., Yi, SJ. et al. Design of a Sliding Mode Controller with Fuzzy Rules for a 4-DoF Service Robot. Int. J. Control Autom. Syst. 19, 2869–2881 (2021). https://doi.org/10.1007/s12555-020-0452-3

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  • DOI: https://doi.org/10.1007/s12555-020-0452-3

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