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

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.
Item Type	Journal Article
Title	Design Adaptive Fuzzy Sliding Mode Controller for Pantograph Mechanism Apply to Massage Therapy Robot for Healthcare
Author	Phuc Phan Thanh Hai Nguyen Dao Xuan Thinh Nguyen Truong
Publication	Journal of Automation and Control Engineering
Page	13-23
Date	2017
Journal Abbr	JOACE
ISSN	23013702
Language	English
URL	http://www.joace.org/index.php?m=content&c=index&a=show&catid=70&id=417
Library Catalog	DOI.org (Crossref)
Tags	sliding mode control, lyapunov stability, adaptive fuzzy control, chattering