Physical Sciences and Mathematics Commons^™

Adaptive Fuzzy Sliding Mode Controller With Predictive Control For Redundant Manipulators With Variable Payload, He Jun, Minzhou Luo, Jianghai Zhao, Linsen Xu, Li Tao

Journal of System Simulation

Abstract: This paper presents an adaptive fuzzy sliding mode controller with Kalman predictive control (AFSMCK) for the redundant robotic manipulator handling a variable payload to achieve a precise trajectory tracking in the task space. This approach could be applied to solve the problems caused by the variable payload and model uncertainties. A Kalman predictive controller using the recursive algorithm is presented for an accurate prediction of a variable payload. The adaptive fuzzy logic algorithm is designed to approximate the parameters of the sliding mode controller to avoid chattering in real time. Lyapunov theory is applied to guarantee the stability of …