Nonsingular Terminal Sliding Mode Control of Robot Manipulators Using Fuzzy Wavelet Networks

摘要

This paper presents an adaptive nonsingular terminal sliding mode (NTSM) tracking control design for robotic systems using fuzzy wavelet networks. Compared with linear hyperplane-based sliding control, terminal sliding mode controller can provide faster convergence and higher precision control. Therefore, a terminal sliding controller combined with the fuzzy wavelet network, which can accurately approximate unknown dynamics of robotic systems by using an adaptive learning algorithm, is an attractive control approach for robots. In addition, the proposed learning algorithm can on-line tune parameters of dilation and translation of fuzzy wavelet basis functions and hidden-to-output weights. Therefore, a robust control law is used to eliminate uncertainties including the inevitable approximation errors resulted from the finite number of fuzzy wavelet basis functions. The proposed controller requires no prior knowledge about the dynamics of the robot and no off-line learning phase. Moreover, both tracking performance and stability of the closed-loop robotic system can be guaranteed by Lyapunov theory. Finally, the effectiveness of the fuzzy wavelet network-based control approach is illustrated through comparative simulations on a six-link robot manipulator