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VGU RESEARCH REPOSITORY


Please use this identifier to cite or link to this item: https://epub.vgu.edu.vn/handle/dlibvgu/98
Title: Self-Tuning Fuzzy PID-Nonsingular fast terminal sliding mode control for robust fault tolerant control of robot manipulators
Authors: Mien Van 
Do Xuan Phu 
Michalis Mavrovouniotis 
Keywords: Fuzzy logic;Fault tolerant control;Robot manipulator;Sliding mode control;Robust control
Issue Date: 2019
Publisher: Elsevier
Abstract: 
In this work, a new robust controller is developed for robot manipulator based on an integrating
between a novel self-tuning fuzzy proportional–integral–derivative (PID)-nonsingular fast terminal
sliding mode control (STF-PID-NFTSM) and a time delay estimation (TDE). A sliding surface based
on the PID-NFTSM is designed for robot manipulators to get multiple excited features such as faster
transient response with finite time convergence, lower error at steady-state and chattering elimination.
However, the system characteristics are hugely affected by the selection of the PID gains of the
controller. In addition, the design of the controller requires an exact dynamics model of the robot
manipulators. In order to obtain effective gains for the PID sliding surface, a fuzzy logic system is
employed and in order to get an estimation of the unknown dynamics model, a TDE algorithm is
developed. The innovative features of the proposed approach, i.e., STF-PID-NFTSM, is verified when
comparing with other up-to-date advanced control techniques on a PUMA560 robot
Index & Ranking: SCIE (Q1)
URI(1): http://epub.vgu.edu.vn/handle/dlibvgu/98
DOI: 10.1016/j.isatra.2019.06.017
Appears in Collections:ARTICLE/BOOK PUBLICATION

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