Adaptive Fuzzy and Sliding-Mode Control of a Robot Manipulator with Varying Payload

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Beyhan S., LENDEK Z., BABUASKA R., WİSSE M., Alci M.

50th IEEE Conference of Decision and Control (CDC)/European Control Conference (ECC), Florida, United States Of America, 12 - 15 December 2011, pp.8291-8296 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/cdc.2011.6160802
  • City: Florida
  • Country: United States Of America
  • Page Numbers: pp.8291-8296


In this paper, we compare indirect adaptive fuzzy control and sliding-mode control in a robot manipulator application. The manipulator performs pick-and-place tasks with unknown and variable payloads. The change of payload causes large variations in the dynamics of the robot. The sliding-mode controller deals with the payload change through its inherent robustness, while the adaptive fuzzy control algorithm adjusts the controller's parameters on-line. The control methods are compared both in numerical simulations and in real-time experiments. The sliding mode controller obtains a very good steady performance. However, thanks to the continuing adaptation, the adaptive fuzzy controller eventually yields smaller steady-state error.