Adaptive Fuzzy Type-2 Fractional Order Proportional Integral Derivative Sliding Mode Controller for Trajectory Tracking of Robotic Manipulators
Ahmad Taher Azar, Fernando E. Serrano, Anis Koubâa
Abstract
With the increase of novel tasks for different kinds of robotic manipulators in industrial applications a precise trajectory tracking is needed. For this reason, in this study the design of an adaptive fuzzy type-2 fractional order proportional-integral-derivative (PID) sliding mode controller is designed in order to provide a fast and accurate response for trajectory tracking of robotic manipulators in a reduced task space. Fuzzy type-2 and fractional order sliding mode controllers provide a suitable control strategy when there are uncertainties considering the flexibility of fractional order controller and combined with the efficacy of PID controllers. To design the adaptive laws, a suitable Lyapunov function is selected in order to obtain the global asymptotic stability despite of the initial conditions for the angular positions and velocities of the actuators. It is important to mention that the results will be compared with other results found in literature by using a six degrees of freedom PUMA 560 robot as benchmark. In order to test the proposed strategy a faster response, accuracy and chattering suppression are obtained in comparison with other control techniques.