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Design Adaptive Fuzzy Sliding Mode Controller for Pantograph Mechanism Apply to Massage Therapy Robot for Healthcare

Phan Thanh Phuc 1, Nguyen Dao Xuan Hai 2, and Nguyen Truong Thinh 1
1. Ho Chi Minh City University of Technology and Education, Ho Chi Minh City, Vietnam
2. Open Laboratory, Department of Mechatronic Engineering, Ho Chi Minh City, Vietnam
Abstract—This paper proposes an adaptive fuzzy sliding mode controller (AFSMC) for pantograph haptic device. It has form mechanism with a 2-DoF redundancy actuated parallel robotic manipulator. An adaptive single input single output (SISO) fuzzy system is applied to calculate each element of the control gain vector in a sliding mode controller for purport to reject phenomenon chattering by the constant value of K and discontinuous function. The adaptive laws are designed based on the Lyapunov stability theory method. The adaptive laws are practiced online by fuzzy controller combine with the sliding mode control (SMC) to control stability the robot manipulator despite external forces disturbance. Many operation situations such as set point control also the trajectory control are simulated also experiment to demonstrate the operation controllers are good working.

Index Terms—sliding mode control, lyapunov stability, adaptive fuzzy control, chattering

Cite: Phan Thanh Phuc, Nguyen Dao Xuan Hai, and Nguyen Truong Thinh, "Design Adaptive Fuzzy Sliding Mode Controller for Pantograph Mechanism Apply to Massage Therapy Robot for Healthcare," Journal of Automation and Control Engineering, Vol. 7, No. 1, pp. 20-30, June, 2019. doi: 10.18178/joace.7.1.20-30
 
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