Journal of South China University of Technology(Natural Science Edition) ›› 2012, Vol. 40 ›› Issue (12): 12-16,23.

• Mechanical Engineering • Previous Articles     Next Articles

Adaptive Fuzzy Variable Structure Control Algorithm for Trajectory Tracking of Industrial Robots

Zhai Jing-mei  Kang Bo  Tang Hui-hua   

  1. School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,Guangdong,China
  • Received:2012-07-12 Revised:2012-09-06 Online:2012-12-25 Published:2012-11-02
  • Contact: 翟敬梅(1967-) ，女，博士，副教授，主要从事机械设计及人工智能研究． E-mail:mejmzhai@ scut.edu.cn
  • About author:翟敬梅(1967-) ，女，博士，副教授，主要从事机械设计及人工智能研究．
  • Supported by:

    广东省战略性新兴产业项目( 2011A091101001) ; 广东省产学研项目( 2011A091000029， 2012B010900076)

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Abstract:

Proposed in this paper is an adaptive fuzzy variable structure control ( AFVSC) algorithm to improve the performance of trajectory tracking control of industrial robots. In this algorithm,the reaching law varying with the trajectory tracking error is redesigned for the reaching motion in the sliding mode region,which reduces the buffeting of the system,improves the reaching motion and enhances the control performance. Moreover,an adaptive fuzzy variable structure controller is designed and is compared with some existing schemes by experiments. The results indicate that the proposed AFVSC algorithm is of higher response rate and tracking accuracy.

Key words: industrial robot, trajectory tracking, variable structure control, adaptive fuzzy control