Robust fuzzy sliding mode control based on low pass filter for the welding robot with dynamic uncertainty
ISSN: 0143-991x
Article publication date: 19 September 2019
Issue publication date: 16 January 2020
Abstract
Purpose
Considering the external disturbances and dynamic uncertainties during the process of the trajectory tracking, this paper aims to address the problem of the welding robot trajectory tracking with guaranteed accuracy.
Design/methodology/approach
The controller consists sliding mode control, fuzzy control and low pass filter. The controller adopts low-pass filter to reduce the high frequency chattering control signal in sliding mode control. The fuzzy control model is used to simulate the external disturbance signal and the dynamic uncertainty signal, so that the controller can effectively restrain the chattering caused by the sliding mode control algorithm, realizing the track of the welding robot effectively and improving the robustness of the robot.
Findings
An innovative experiment device was adopted to realize the performance of the proposed controller. Considering the kinematic and dynamic uncertainty during the process of robot tracking, the tracking accuracy was realized within 0.3 mm.
Originality/value
This paper uses Lyapunov stability theory and Barbalat theorem to analyze the stability of the proposed controller.
Keywords
Acknowledgements
This research was supported by National Natural Science Foundation of China (No.61374133, No.61673205) and National Key Research and Development Program of China (2018YFB-1308031).
Citation
Wang, P., Zhang, D. and Lu, B. (2020), "Robust fuzzy sliding mode control based on low pass filter for the welding robot with dynamic uncertainty", Industrial Robot, Vol. 47 No. 1, pp. 111-120. https://doi.org/10.1108/IR-04-2019-0074
Publisher
:Emerald Publishing Limited
Copyright © 2019, Emerald Publishing Limited