Research Of Fuzzy Sliding Mode Control For Modular Reconfigurable Manipulator

Modular reconfigurable manipulator can meet the requirements of different tasks,consisting of a variety of different sizes of standardized connecting rod and joint modules.Based on the modular design ideas,modular reconfigurable manipulator can be easy to replace the bad module and change the configuration for different tasks.So the modular reconfigurable manipulator system compared to the traditional robot arm system,has more advantage and can be applied to a more wide field of industry.Nowadays,the modular reconfigurable manipulator has many aspects to be studied.It is important to realize the dynamic control of the manipulator.In this paper,the theoretical derivation and simulation verification of the dynamic control for modular reconfigurable manipulator are implemented.Firstly,a fuzzy adaptive controller is designed to compensate the friction and external disturbance in the dynamics of the modular reconfigurable manipulator.In order to reduce the compensation error of the fuzzy controller and improve the anti-jamming ability of the controller,a robust term is added to the fuzzy adaptive controller to improve the compensation accuracy and robustness of the controller.Secondly,the dynamic adaptive control of the modular reconfigurable manipulator is studied.The sliding mode variable structure controller is designed to compensate the uncertainties of the modular reconfigurable manipulator in different configurations.For solving the problems of buffeting in the traditional sliding mode control and realizing the adaptive control problem of the sliding mode controller,a fuzzy adaptive strategy is accomplished to adjust the parameters of the sliding mode controller.Finally,the proposed intelligent control method in this paper is verified by three different configuration modular reconfigurable manipulator.By means of the analysis of the simulation results,the robust fuzzy adaptive control law and the fuzzy sliding mode control law are verified can effectively achieve the control of the robot dynamics.