Hybrid Fuzzy Sliding Mode Control for Uncertain PAM Robot Arm Plant Enhanced with Evolutionary Technique

Authors

Ho Pham Huy Anh^{1, 2, *,} , Cao Van Kien³

¹Faculty of Electric-Electronics Engineering (FEEE), Ho Chi Minh City University of Technology (HCMUT), 268 Ly Thuong Kiet Street, District 10, Ho Chi Minh City, Vietnam

²Vietnam National University Ho Chi Minh City (VNU-HCM), Linh Trung Ward, Thu Duc District, Ho Chi Minh City, Vietnam

³Faculty of Electronics Technology, Industrial University of Ho Chi Minh City (IUH), Ho Chi Minh City, Vietnam

^*Corresponding author. Email: hphanh@hcmut.edu.vn

DOI

10.2991/ijcis.d.210107.001How to use a DOI?

Keywords

Enhanced fuzzy sliding mode (EFSMC) controller; Pneumatic artificial muscle (PAM) robot arm; Lyapunov stability; Differential evolution (DE) technique; Uncertain nonlinear dynamic systems

Abstract

This paper introduces an enhanced fuzzy sliding mode control (EFSMC) algorithm used for controlling the uncertain pneumatic artificial muscle (PAM) robot arm containing external disturbances. The nonlinear features of investigated PAM robot arm system are approximated using fuzzy logic. Moreover, the coefficients of fuzzy model are optimum selected by evolutionary differential eveloution (DE) technique. The new EFSMC algorithm is designed based on the traditional sliding mode controller in which the adaptive fuzzy rule is developed based on the Lyapunov stability theory and is fuzzified with Mandani fuzzy scheme. As a consequent, the closed-loop stability of nonlinear uncertain PAM robot arm system is guaranteed to follow the global asymptotic stability. Experimental results are shown. It is evident that the proposed adaptive fuzzy rule suitable with the EFSMC controller which ensures an outperforming method in comparison with other advanced control approaches.

Copyright

© 2021 The Authors. Published by Atlantis Press B.V.

Open Access

This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - JOUR
AU  - Ho Pham Huy Anh
AU  - Cao Van Kien
PY  - 2021
DA  - 2021/01/15
TI  - Hybrid Fuzzy Sliding Mode Control for Uncertain PAM Robot Arm Plant Enhanced with Evolutionary Technique
JO  - International Journal of Computational Intelligence Systems
SP  - 594
EP  - 604
VL  - 14
IS  - 1
SN  - 1875-6883
UR  - https://doi.org/10.2991/ijcis.d.210107.001
DO  - 10.2991/ijcis.d.210107.001
ID  - Anh2021
ER  -