A fuzzy sliding mode control for a robotic system
DOI:
https://doi.org/10.56053/10.1.37Keywords:
Type-2 fuzzy systems, Sliding mode control, Robotic SystemsAbstract
Basically, miniaturized versions of robotic arms, micro and even nano robotic arms are the perfect candidate for performing accurate inspections at microscopic scales on structures. With relatively small actuators and sensors, they are ideal for looking for small defects and components.The growing challenges of robotization for a flexible and efficient industry require the development of reliable,
precise, and efficient robotic systems. In this context, we propose an approach combining fuzzy logic and sliding modes to obtain robust, simple, and efficient control for a SCARA robot. Simulation results are presented to corroborate our claims.
References
-[1] Z. K. Salih, A. A. Kamall-Eldeen, Exp. Theor. Nanotechnol. 8 (2024) 27 doi:10.56053/8.2.27
-[2] K. D. Young, V. I. Utkin, U. Ozguner, IEEE Trans. Control Syst. Technol. 7 (1999) 328 doi:10.1109/87.761053
-[3] Ya-Chen Hsu, Guanrong Chen, Han-Xiong Li, IEEE Trans. Syst. Man Cybern. Part B Cybern. 31 (2001) 331 doi:10.1109/3477.931517
-[4] L. Alnufaie, Int. J. Adv. Eng. Res. Sci. 10 (2023) 78 doi:10.22161/ijaers.1011.9
-[5] N. Essounbouli, A. Hamzaoui, J. Zaytoon, IFAC Proc. 35 (2002) 157 doi:10.3182/20020721-6-ES1901.00679
-[6] F. Du, Sun Ying, Li Gongfa, Jiang Guozhang, Int. J. Wirel. Mob. Comput. 13 (2017) 306 doi:10.1504/IJWMC.2017.089324
-[7] L. Zhan, K. Zhou, Int. J. Adv. Manuf. Technol. 69 (2013) 1469 doi:10.1007/s00170-013-5123-6
-[8] M.-D. Duong, Q.-T. Pham, T.-C. Vu, N.-T. BUI, Q.-T. Dao, Sci. Rep. 13 (2023) 8242 doi:10.1038/s41598-023-34491-3
-[9] A. Abbasimoshaei, M. Mohammadimoghaddam, T. A. Kern, in Haptics: Science, Technology, Applications, 12272 (2020) 506 doi:10.1007/978-3-030-58147-3_56
-[10] L. A. Nufaie, Int. J. Adv. Res. 11 (2023) 343 doi:10.21474/IJAR01/17397
-[11] S.-H. Han, M. S. Tran, D.-T. Tran, Appl. Sci. 11 (2021) 3919 doi:10.3390/app11093919
-[12] X. Chen, Automatica, 42 (2006) 427 doi:10.1016/j.automatica.2005.10.008
-[13] J. Fei, H. Ding, Nonlinear Dyn. 70 (2012) 1563 doi:10.1007/s11071-012-0556-2
-[14] Y.-J. Huang, T.-C. Kuo, S.-H. Chang, IEEE Trans. Syst. Man Cybern. Part B Cybern. 38 (2008) 534 doi:10.1109/TSMCB.2007.910740
-[15] J.-H. Hwang, Y.-C. Kang, J.-W. Park, D. W. Kim, Comput. Intell. Neurosci. 2017 (2017) 1 doi:10.1155/2017/9640849
-[16] Badis Bendjemil, Maram Mechi, Khaoula Safi, Mounir Ferhi, Karima Horchani Naifer, Exp. Theo. NANOTECHNOLOGY 8 (2024) 51 https://doi.org/10.56053/8.3.51
-[17] M. Sugeno, Inf. Sci. 36 (1985) 59 doi:10.1016/0020-0255(85)90026-X
-[18] F. Piltan, A. Nabaee, M. Ebrahimi, M. Bazregar, Int. J. Inf. Technol. Comput. Sci. 5 (2013) 123 doi: 10.5815/ijitcs.2013.08.12
-[19] S. Amirkhani, S. Mobayen, N. Iliaee, O. Boubaker, S. H. Hosseinnia, Int. J. Adv. Robot. Syst. 16 (2019) 1729 doi:10.1177/1729881419828176
-[20] M. Van, S. S. Ge, H. Ren, IEEE Trans. Cybern. 47 (2017) 1681 doi:10.1109/TCYB.2016.2555307
-[21] C. C. Lee, IEEE Trans. Syst. Man Cybern. 20 (1990) 404 doi:10.1109/21.52551
-[22] L. Alnufaie, Int. J. Adv. Appl. Sci. 10 (2023) 166 doi:10.21833/ijaas.2023.10.019
-[23] A. M. Ahmed Alwaise, Raqeeb H. Rajab, Adel A. Mahmood, Mohammed A. Alreshedi, Exp. Theo. NANOTECHNOLOGY 8 (2024) 67 https://doi.org/10.56053/8.3.67
-[24] M. Manceur, N. Essounbouli, A. Hamzaoui, IEEE Trans. Fuzzy Syst. 20 (2012) 262 doi:10.1109/TFUZZ.2011.2172948
-[25] S. M. Fathi, N. A. Al-Kareem, Exp. Theo. NANOTECHNOLOGY 9 (2025) 199 https://doi.org/10.56053/9.S.199
-[26] B. Reetz, A. Frehn, W. Budweiser, W. Bishop, Exp. Theo. NANOTECHNOLOGY 9 (2025) 465 https://doi.org/10.56053/9.3.465
-[27] N. Nafia, A. El Kari, H. Ayad, M. Mjahed, Robotics 7 (2018) 40 doi:10.3390/robotics7030040
-[28] N. Kim, Park Yunki, Son Jung E., Shin Seongjin, Min Byounghyuk, Park Hyungjin, Int. J. Control
Autom. Syst. 16 (2018) 62 doi:10.1007/s12555-016-0584-7
