Nonsingular Fast Terminal Sliding Mode Controller for a Robotic System: A Fuzzy Approach
Received: 2 July 2023 | Revised: 22 July 2023, 6 August 2023, and 13 August 2023 | Accepted: 18 August 2023 | Online: 13 October 2023
Corresponding author: Lafi Alnufaie
This study presents a combination of Type-2 fuzzy logic and nonsingular fast sliding mode technique to design a robust controller for a robotic system. The control law is composed of two signals. The first one called equivalent control law is dedicated to maintaining the system on the sliding surface and then converges to zero. Since the system is uncertain, a Type-2 fuzzy nominal model was constructed, deduced from linear local models, which allows a good approximation of the real robotic system. The second signal, whose objective is to force the system to attain the sliding surface, is deduced from stability analysis using Lyapunov theory. Several simulations were conducted to evaluate the efficiency of the proposed approach, showing good tracking performance for different reference signals despite the presence of uncertainties and external disturbances.
Keywords:robotic system, nonsingular fast terminal sliding mode control
J. J. E. Slotine and W. Li, Applied Nonlinear Control. Englewood Cliffs, NJ, USA: Prentice Hall, 1991.
A. Hamzaoui, N. Essounbouli, and J. Zaytoon, "Fuzzy sliding mode control with a fuzzy switching function for non-linear uncertain multi-input multi-output systems," Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, vol. 218, no. 4, pp. 287–297, Jun. 2004.
M. Boukattaya, N. Mezghani, and T. Damak, "Adaptive nonsingular fast terminal sliding-mode control for the tracking problem of uncertain dynamical systems," ISA Transactions, vol. 77, pp. 1–19, Jun. 2018.
Y. Pan, C. Yang, L. Pan, and H. Yu, "Integral Sliding Mode Control: Performance, Modification, and Improvement," IEEE Transactions on Industrial Informatics, vol. 14, no. 7, pp. 3087–3096, Jul. 2018.
S. Ullah, Q. Khan, A. Mehmood, and A. I. Bhatti, "Robust Backstepping Sliding Mode Control Design for a Class of Underactuated Electro–Mechanical Nonlinear Systems," Journal of Electrical Engineering & Technology, vol. 15, no. 4, pp. 1821–1828, Jul. 2020.
S. Ahmad, A. A. Uppal, M. R. Azam, and J. Iqbal, "Chattering Free Sliding Mode Control and State Dependent Kalman Filter Design for Underground Gasification Energy Conversion Process," Electronics, vol. 12, no. 4, Jan. 2023, Art. no. 876.
L. Wan, G. Chen, M. Sheng, Y. Zhang, and Z. Zhang, "Adaptive chattering-free terminal sliding-mode control for full-order nonlinear system with unknown disturbances and model uncertainties," International Journal of Advanced Robotic Systems, vol. 17, no. 3, May 2020.
A. T. Vo and H.-J. Kang, "A Chattering-Free, Adaptive, Robust Tracking Control Scheme for Nonlinear Systems With Uncertain Dynamics," IEEE Access, vol. 7, pp. 10457–10466, 2019.
M. Manceur, N. Essounbouli, and A. Hamzaoui, "Second-Order Sliding Fuzzy Interval Type-2 Control for an Uncertain System With Real Application," IEEE Transactions on Fuzzy Systems, vol. 20, no. 2, pp. 262–275, Apr. 2012.
T. N. Truong, A. T. Vo, and H.-J. Kang, "A Backstepping Global Fast Terminal Sliding Mode Control for Trajectory Tracking Control of Industrial Robotic Manipulators," IEEE Access, vol. 9, pp. 31921–31931, 2021.
M. Van, S. S. Ge, and H. Ren, "Finite Time Fault Tolerant Control for Robot Manipulators Using Time Delay Estimation and Continuous Nonsingular Fast Terminal Sliding Mode Control," IEEE Transactions on Cybernetics, vol. 47, no. 7, pp. 1681–1693, Jul. 2017.
A. Ferrara and G. P. Incremona, "Design of an Integral Suboptimal Second-Order Sliding Mode Controller for the Robust Motion Control of Robot Manipulators," IEEE Transactions on Control Systems Technology, vol. 23, no. 6, pp. 2316–2325, Aug. 2015.
X. Liang, H. Wang, and Y. Zhang, "Adaptive nonsingular terminal sliding mode control for rehabilitation robots," Computers and Electrical Engineering, vol. 99, Art. no. 107718, Apr. 2022.
L. Alnufaie, "Nonsingular Fast Terminal Sliding Mode Controller for a Robotic System: A Fuzzy Approach," IEEE Access, vol. 11, pp. 75522–75527, 2023.
A. Al-Mahturi, F. Santoso, M. A. Garratt, and S. G. Anavatti, "A Novel Evolving Type-2 Fuzzy System for Controlling a Mobile Robot under Large Uncertainties," Robotics, vol. 12, no. 2, Apr. 2023, Art. no. 40.
N. N. Karnik, J. M. Mendel, and Q. Liang, "Type-2 fuzzy logic systems," IEEE Transactions on Fuzzy Systems, vol. 7, no. 6, pp. 643–658, Sep. 1999.
M. Manceur, L. Menhour, N. Essounbouli, and A. Hamzaoui, "MIMO sliding fuzzy type-2 control with manipulating approaching phase," in 2013 10th IEEE International Conference on Networking, Sensing and Control (ICNSC), Evry, France, Apr. 2013, pp. 479–485.
V. Utkin, A. Poznyak, Y. Orlov, and A. Polyakov, "Conventional and high order sliding mode control," Journal of the Franklin Institute, vol. 357, no. 15, pp. 10244–10261, Oct. 2020.
How to Cite
MetricsAbstract Views: 242
PDF Downloads: 172
Copyright (c) 2023 Lafi Alnufaie
This work is licensed under a Creative Commons Attribution 4.0 International License.
Authors who publish with this journal agree to the following terms:
- Authors retain the copyright and grant the journal the right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) after its publication in ETASR with an acknowledgement of its initial publication in this journal.