Journal of Mechanical Science and Technology

Sliding mode controller combined Neural-Fuzzy algorithm for underwater robot

manipulators.
--Manuscript Draft--

Manuscript Number: MEST-D-23-00587

Full Title: Sliding mode controller combined Neural-Fuzzy algorithm for underwater robot
manipulators.

Article Type: Original Paper

Order of Authors: DUC ANH PHAM, Master

Seung Hun Han, Doctor

Keywords: Robot Manipulator; Neural network; Fuzzy Logic controller; Matlab/Simulink; Sliding
mode control.

Corresponding Author: DUC ANH PHAM, Master

Gyeongsang National University - Tongyeong Campus
KOREA, REPUBLIC OF

Corresponding Author Secondary

Information:

Corresponding Author's Institution: Gyeongsang National University - Tongyeong Campus

Corresponding Author's Secondary

Institution:

First Author: DUC ANH PHAM, Master

First Author Secondary Information:

Order of Authors Secondary Information:

Funding Information:

Abstract: The outstanding advantage of the sliding controller is its stability, even when the
system has noise or when the object's parameters change over time. However, in
order to design a sliding controller, the designer needs to know the exact model of the
object. In practice, this is not always possible. Moreover, if the amplitude of the sliding
control law is too large, it will cause chattering around the sliding surface. To solve the
above difficulty, the paper proposes to use a radial basis function neural network
(RBFNN) to estimate nonlinear functions in control law online. Acquire Sliding mode
control (SMC) and use Fuzzy logic to estimate the amplitude of the control law based
on Lyapunov stability theory. The proposed algorithm is applied to control the three-
degrees-of-freedom robotic manipulator, which is a complex MIMO (multiple input,
multiple output) nonlinear system. The response of the manipulator system is
overshoot (Rad) with this controller, with a rise time of 5±3% s and a setting error of
approximately 1%. Control results are verified by Matlab/Simulink simulation software.

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G. Bell et al. / Journal of Mechanical Science and Technology 23 (2009) 1261~1269

Sliding mode controller combined Neural-Fuzzy algorithm

for underwater robot manipulators.
Duc-Anh Pham1 and Seung-Hun Han 1*
1
Department of Mechanical System Engineering, Gyeongsang National University, Tongyeong 53064, Korea;
pamanh97@gmail.com

Keywords: Robot Manipulator; Neural network; Fuzzy Logic controller; Matlab/Simulink; Sliding mode control.

Correspondence to: Seung-Hun Han / shhan@gnu.ac.kr; Tel.: +82-55-772-9105.

----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------

Abstract: The outstanding advantage of the sliding controller is its stability, even when the system has noise or when the ob-
ject's parameters change over time. However, in order to design a sliding controller, the designer needs to know the exact model of
the object. In practice, this is not always possible. Moreover, if the amplitude of the sliding control law is too large, it will cause chat-
tering around the sliding surface. To solve the above difficulty, the paper proposes to use a radial basis function neural network
(RBFNN) to estimate nonlinear functions in control law online. Acquire Sliding mode control (SMC) and use Fuzzy logic to estimate
the amplitude of the control law based on Lyapunov stability theory. The proposed algorithm is applied to control the three-degrees-
of-freedom robotic manipulator, which is a complex MIMO (multiple input, multiple output) nonlinear system. The response of the
manipulator system is overshoot (Rad) with this controller, with a rise time of 5±3% s and a setting error of approximately 1%. Con-
trol re-sults are verified by Matlab/Simulink simulation software.
----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------

ocean research, construction maintenance, search, salvage

1. Introduction and seabed survey or mine clearance, water purification in ar-
The planet we live on has up to 70% of the surface area is eas During the war, developed countries in the world such as
water, so learning and researching to exploit and master this re- the UK, Germany, the US, etc. have applied remote control un-
source is always the desire of countries around the world, espe- manned aerial vehicles, typically ROV (Remotely Operated Ve-
cially countries in the world. The countries border the sea and hicle).
have a dense river system. In addition, there are many different Manipulators are one of the key components of an ROV (Re-
purposes such as military, economic - social, etc,. have pro- motely Operated Vehicle). They are robotic arms that are
moted the design and manufacture of equipment capable of op- mounted on the vehicle and used to manipulate objects or per-
erating underwater, specifically manned diving equipment in form tasks underwater. ROV manipulators typically have several
(Manned Underwater Submersible) were built in turn. However, degrees of freedom and are controlled by the operator using a
these devices reached the limit of development in the late 1960s joystick or other control device.
when a number of defense companies such as General Dynam- The main purpose of ROV manipulators is to perform tasks
ics, Rockwell and Westinghouse fully developed the system. that would be difficult or impossible for a human diver to accom-
From concern about operator safety in the aquatic environment plish. For example, manipulators can be used to:
to the constant development of science and technology has led ─ Collect samples or perform experiments.
to the idea of research and development of unmanned under- ─ Attach or detach cables or other equipment.
water devices (Unmanned Submersible). A recent example in ─ Operate valves or other controls.
November 2018 was the fact that Argentina could not recover ─ Perform maintenance or repair tasks on underwater struc-
the wreck of a submarine due to a depth of 900m of sea water tures or equipment.
due to a lack of modern technology, so the recovery of 44 crew ROV manipulators come in a variety of sizes and shapes de-
bodies and investigation of the cause of the accident many diffi- pending on the specific needs of the vehicle and its mission.
culties. People face many difficulties that have shown the im- They can range from small, lightweight arms with only a few de-
portance and necessity of underwater unmanned devices in or- grees of freedom to large, heavy-duty arms with multiple joints
der to reduce risks and preserve human life. To solve problems and a high lifting capacity.
that require long and dangerous underwater operations such as Manipulators are typically powered by hydraulic or electric ac-
tuators, which provide the force and precision needed to perform
1
0000 Journal of Mechanical Science and Technology 00 (0) (2020)
delicate tasks underwater. Some manipulators also include ad-
ditional sensors or cameras to provide the operator with a better
view of the task area.
Overall, ROV manipulators are an essential tool for underwa-
ter exploration, research, and industry. They allow operators to
perform complex tasks at depths that would be too dangerous
or challenging for human divers.
The sea plays an increasingly important role in the exchange
and development of most countries in the world today. The sea
not only provides a great and precious resource but also one of
the essential things for human life in particular and for animals
in the world in general. With the mysteries of the ocean, today
the need to research, understand the sea and find resources in
the sea and ocean requires people to go deeper and deeper into
the ocean. However, the use of lifeguards is very limited be-
cause humans can only dive to a depth of no more than 300m.
Therefore, to be able to research, study and work deep under
the sea, we need to use robots that can dive underwater.
Today's remote-controlled diving equipment can be divided
into three main categories: swimming underwater thanks to pro-
pellers, crawling on the seabed using a crawler system, and un-
derwater robots that mimic the movements of fish. And the Re-
mote-Control Vehicle (ROV) [1-3] of the propeller-driven type of
swimming in water is one of the commonly used devices be-
cause of its efficiency and high maneuverability. ROV-type sub-
mersibles come in a variety of configurations (boxes, spheres,
frames, etc.) handling, cutting, lighting system, etc,. Supplying
power to the ROV from the mother ship and transmitting infor-
mation from the ROV to the mother ship is done by the same
cable as the uplink. Although the working range of the ROV is
limited by the cable length, the working time of the ROV is not
limited. Through the screen, the operation team will control it di-
rectly with the joystick.
Nowadays, manipulators [4,5] or robotic arms [6,7] are being
applied a lot in high-tech manufacturing industries. With full func-
tions suitable for all types of production such as: painting, weld-
ing, loading, and unloading, installation, ... Therefore, the need
to improve as well as develop Robot applications is being ex-
tremely concerned by Robot manufacturers. Each robot arm de-
vice is always suitable for different jobs. Jobs that require preci-
sion and accuracy need a robot arm of 6 steps or more, simple
jobs that are just transporting goods need a robot arm of 3 steps
or less to be able to meet the needs. The 3-step robot arm with
3 rotary joints is suitable for jobs requiring medium precision. It
has a small size and is a lot cheaper than the arms with a higher
number of steps. The robotic arm is one of the essential equip-
ment used to handle repair procedures operating under the sea.
In this paper, the author designs a controller for a robot arm with
3 degrees of freedom towards stable and accurate control in the
underwater environment.
The first concept of sliding control for quadratic systems was
introduced by Emelyanov in the late 1960s [8-13]. Later, this
method was more interested by scientists because of its high
stability against noise and parameter changes of the model.
To get a slide controller, the designer must know the exact
2
object model. In practice, this is not always possible. Therefore,
to solve the above problem, we propose to use the RBFNN func-
tion to estimate the nonlinear function in the online control law.
In addition, if the amplitude of the sliding control law is large, the
phase trajectory will oscillate around the slip surface [14,15]. To
reduce oscillation, the paper proposes to use fuzzy logic to esti-
mate the amplitude of the control law.
The above algorithm will be applied to control the manipulator
system with three degrees of freedom. This is a MIMO nonlinear
system. For this object, some scientists have studied such as:
[16,17] using equivalence control law and transform control law
to bring the phase trajectory back to the sliding plane and main-
tain stability on that slide, [18,19] investigate the kinematics of
the controllers; [20] uses fuzzy logic to estimate nonlinear and
noise functions to eliminate oscillations in the sliding mode con-
troller.
This research paper includes the development of the dynamic
equation of the manipulator arm for the ROV, as well as the de-
sign of sliding mode control, fuzzy logic control, and neural net-
work control systems. In addition, noise calculations are also
performed. The performance of the proposed control methods
is compared with that of the traditional PID controller using sim-
ulation.
The dynamic equation of the manipulator's arm is derived us-
ing the Lagrange-Euler formulation. The sliding mode control
system is designed to handle uncertainties and disturbances in
the system. The fuzzy logic control system is designed to handle
the nonlinearity in the system. The neural network control sys-
tem is designed to learn the inverse dynamics of the system.
The performance of these control methods is evaluated using
different criteria such as overshoot, settling time, and tracking
error.
The simulation results show that the proposed control meth-
ods outperform the traditional PID controller in terms of all eval-
uation criteria. The sliding mode control system shows the best
performance in terms of overshoot and settling time, while the
fuzzy logic control system shows the best performance in terms
of tracking error. The neural network control system shows com-
parable performance with the sliding mode control system and
the fuzzy logic control system.
In conclusion, the proposed control methods, especially the
sliding mode control, fuzzy logic control, and neural network
control systems can significantly improve the performance of the
manipulator arm for the ROV in underwater operations.
2. Robot Manipulator Model
2.1 A brief overview of the robotic arm in the
research paper.
The ROV is simply an apparatus specially designed to work
underwater, with propellers, cameras, and two arms on it. The
body of the ROV is designed with a special aluminum alloy, light,
durable in the marine environment. The propeller allows the
ROV to move freely in all directions; the arm of the ROV has
 G. Bell et al. / Journal of Mechanical Science and Technology 23 (2009) 1261~1269

many joints and can be more than 1m long, the ROV can do the (3)
work through the installation of specialized tools such as welding, M13 = M31 = m3 (l23 + l1 l3 cos(θ2 + θ3 )) +
cutting, holding, grasping; and depending on the requirements m3 l2 l3 cos(θ3 ) (4)
of each different job, there will be different tools. M22 = m2 l22 + m3 (l22 + l23 + 2l2 l3 cos(θ3 )) (5)
The simple structure of a robotic arm of ROV is shown in Fig- M23 = M32 = m3 (l23 + l2 l3 cos(θ2 + θ3 )) (6)
ure 1 and is the model mentioned and studied by the author M33 = m3 l23 (7)
throughout this research paper. F1 = −(m2 + m3 )l1 l2 (2θ̇1 θ̇2 + θ̇22 ) sin(θ2 ) −
m3 l1 l3 qsin(θ2 + θ3 ) − m3 l2 l3 (2θ̇1 θ̇3 + 2θ̇2 θ̇3 +
θ̇23 )sin(θ3 ) (8)
F2 = (m2 + m3 )θ̇12 sin(θ2 ) + m3 l1 l3 θ̇12 sin(θ2 + θ3 ) −
m3 l2 l3 (2θ̇1 θ̇3 + 2θ̇2 θ̇3 + θ̇23 )sin(θ3 ) (9)
F3 = m3 l1 l3 θ̇12 sin(θ2 + θ3 ) + m2 l2 l3 (θ̇1 + θ̇2 )sin(θ3 )
(10)
q = 2θ̇1 θ̇2 + 2θ̇1 θ̇3 + 2θ̇2 θ̇3 + θ̇22 + θ̇23 (11)
G1 = m1 gl1 cos(θ1 ) + m2 g(l2 cos(θ1 + θ2 ) +
l1 cos(θ1 )) + m3 g(l2 cos(θ1 + θ2 ) + l1 cos(θ1 )) +
Fig. 1. The simple structure robotic manipulator of the ROV. m3 g(l3 cos(θ1 + θ2 + θ3 )) (12)
The dynamic model of the manipulator arm consists of a set G2 = m2 gl2 cos(θ1 + θ2 ) + m3 g(l2 cos(θ1 + θ2 )) +
of differential equations that describe the motion of the arm in m3 g(l3 cos(θ1 + θ2 + θ3 )) (13)
response to the applied torques. The model takes into account G3 = m3 g(l3 cos(θ1 + θ2 + θ3 )) (14)
the effects of gravity, buoyancy, hydrodynamic drag, and the dy- The parameters of the manipulator considered in the study
namics of the actuators. The equations are derived using the are:
Lagrange-Euler formulation, which is a widely used method for m1 =1kg is the mass of joint 1,
modeling mechanical systems. m2 =0.8kg is the mass of joint 2,
The model consists of several links connected by revolute m3 =0.5kg is the mass of joint 3,
joints, and each link is treated as a rigid body. The position and l1 =1m is the length of joint 1,
orientation of each link are described using the Denavit-Harten- l2 =0.8m is the length of joint 2,
berg parameters, which provide a convenient way to represent l3 =0.6m is the length of joint 3,
the kinematics of the arm. The dynamics of the system are de- g =9.81 m/s2 is the acceleration due to gravity.
scribed by the equations of motion, which relate the joint torques
to the joint angles and their time derivatives. 2.2 Forward kinematics.
The dynamic model of the manipulator's arm is an essential
component of the control system design, as it provides the math- It has been given that there exists a matrix 𝑇𝑖𝑖−1 which is
ematical foundation for the controller. The accuracy of the model called a homogeneous transformation matrix, and it has the
is crucial for achieving good performance of the control system. form:
Therefore, careful attention is paid to modeling the system dy-
𝑅𝑖 𝑝𝑖
namics accurately, taking into account all relevant physical ef- 𝑇𝑖𝑖−1 = [ ] (15)
0 1
fects. Where: 𝑅𝑖 (3x3 matrix): Rotation matrix.
Due to the not too complicated work characteristics of ROV, 𝑝𝑖 (3x1 matrix): Translation vector.
the authors used the object in the study as a 3-degrees-of-free- Using the homogeneous transformation between coordinate
dom manipulator. The kinetic model of the manipulator system systems, we can determine the position and orientation of the
with 3 degrees of freedom [17] is as follows: end-effector relative to the origin coordinate system, which is de-
scribed by the composite matrix:
M(θ)θ̈ + F(θ,M11θ̇) +MG(θ)
12 +13d(t) = u
M (1)
With M = [M21 M22 M23 ] is the inertial matrix, F = 𝑛𝑥 𝑜𝑥 𝑎𝑥 𝑝𝑥
[F1 F2 F3 ]TM31 is theMfriction
32 M33
vector, G = [G1 G2 G3 ]T is 𝑛𝑦 𝑜𝑦 𝑎𝑦 𝑝𝑦
𝑇𝑛0 = ∏𝑛𝑖=1 𝑇𝑖𝑖−1 = [ ] (16)
the gravity vector, d(t) is the noise signal, u = [u1 u2 u3 ]T 𝑛𝑧 𝑜𝑧 𝑎𝑧 𝑝𝑧
is the control signal vector, θ = [θ1 θ2 θ3 ]T is the angle of 0 0 0 1
Where:
the joints of the manipulator system.
n: the number of robot's joints.
m1 𝑇𝑖𝑖−1 : the transformation matrix from coordinate system i to
M11 = l12 ( + m2 + m3 ) + l1 l2 (m2 + 2m3 ) cos(q2 ) + coordinate system i-1.
3
m2
I22 ( + m3 ) (2) 𝑇𝑛0 = 𝑓(𝑞1 , 𝑞2 , 𝑞3,…, 𝑞𝑛 ); 𝑞1 ÷ 𝑞𝑛 are joint variables; n, s, and
3 𝑇
M12 = M21 = m2 (l22
+ l1 l2 cos(θ2 )) + m3 (l22
+ + l23 a are vectors indicating directions, 𝑝 = [𝑝𝑥 , 𝑝𝑦 , 𝑝𝑧 ] is position
l1 l2 cos(θ2 )) + m3 (l1 l3 cos(θ2 + θ3 ) + 2l2 l3 cos(θ3 )) vector.

3
0000 Journal of Mechanical Science and Technology 00 (0) (2020)

Thus, knowing the geometric properties of the links and the The homogeneous transformation matrix representing the po-
motion laws of the joints, so it can be completely determining the sition and orientation of the end effector with respect to the origin
position and orientation of the manipulator links. coordinate system can be determined.
The purpose of the forward kinematics problem is to deter-
mine the position and orientation of the end-effector when the 𝑇30 = 𝑇10 . 𝑇21 . 𝑇32 =
values of the joint variables are known. Typically, these joint val- 𝑐𝑞1 . 𝑐(𝑞2 + 𝑞3 ) −𝑐𝑞1 . 𝑠(𝑞2 + 𝑞3 ) s𝑞1 𝑐𝑞1 . [𝑎3 . 𝑠(𝑞2 + 𝑞3 ) + 𝑎2 . 𝑠𝑞
ues are given as a function of time 𝑞𝑖 = 𝑞𝑖 (𝑡), and we need to 𝑠𝑞 𝑐(𝑞 + 𝑞3 ) −𝑠𝑞1 . 𝑠(𝑞2 + 𝑞3 ) −c𝑞1 𝑠𝑞1 . [𝑎3 . 𝑠(𝑞2 + 𝑞3 ) + 𝑎2 . 𝑠𝑞
[ 1. 2
determine the position and orientation of the end-effector corre- s(𝑞2 + 𝑞3 ) c(𝑞2 + 𝑞3 ) 0 𝑎3 . 𝑠(𝑞2 + 𝑞3 ) + 𝑎2 . 𝑠𝑞2 +
sponding to those joint values. To solve the forward kinematics 0 0 0 1
problem, we need to formulate the kinematic equations of the (20)
robot using equation (16). By equating corresponding elements of two matrices, we can
Let's place the origin coordinate system 𝑂0 𝑥0 𝑦0 𝑧0 at the po- obtain the dynamic equations of the robot in the angular coordi-
sition shown in figure 2. The coordinate system 𝑂1 𝑥1 𝑦1 𝑧1 has nate system.
its origin at joint 2, with the 𝑧1 -axis aligned with the second joint
axis. The coordinate system 𝑂2 𝑥2 𝑦2 𝑧2 has its origin at joint 3, 𝑛𝑥 = cos(𝑞1 ) ⋅ cos(𝑞2 + 𝑞3 )
with the 𝑧2 -axis aligned with the third joint axis and the 𝑥2 -axis 𝑛𝑦 = sin(𝑞1 ) ⋅ cos(𝑞2 + 𝑞3 )
aligned with the gripper direction, pointing towards the jaws. The 𝑛𝑧 = sin(𝑞2 + 𝑞3 )
coordinate system 𝑂3 𝑥3 𝑦3 𝑧3 has its origin at the center of the 𝑜𝑥 = −cos(𝑞1 ) ⋅ sin(𝑞2 + 𝑞3 )
gripper. 𝑜𝑦 = −sin(𝑞1 ) ⋅ sin(𝑞2 + 𝑞3 )
𝑜𝑧 = cos(𝑞2 + 𝑞3 )
𝑎𝑥 = sin(𝑞1 )
𝑎𝑦 = −cos(𝑞1 )
𝑎𝑧 = 0
𝑝𝑥 = cos(𝑞1 ) ⋅ [𝑎3 ⋅ cos(𝑞2 + 𝑞3 ) + 𝑎2 ⋅ cos(𝑞2 ) + 𝑎1 ]
𝑝𝑦 = sin(𝑞1 ) ⋅ [𝑎3 ⋅ cos(𝑞2 + 𝑞3 ) + 𝑎2 ⋅ cos(𝑞2 ) + 𝑎1 ]
{𝑝𝑧 = 𝑎3 ⋅ sin(𝑞2 + 𝑞3 ) + 𝑎2 ⋅ sin(𝑞2 ) + 𝑑1
(21)

2.3 Inverse kinematics.

In the inverse kinematics problem, we need to determine the
Fig. 2. Robot kinematic diagram in angular coordinate system. joint values of the robot when the position and orientation of the
end effector point are known. The posi-tion and orientation of
Table 1. The Denavit-Hartenberg (DH) parameter table for a robot in angular the end effector are determined from a given motion trajectory
coordinate system. of the robot in the form of a matrix:
Joint 𝛂𝐢 𝐚𝐢 𝐝𝐢 𝛉𝐢
𝑛𝑥 𝑜𝑥 𝑎𝑥 𝑝𝑥
1 90° a1 d1 q1
𝑛𝑦 𝑜𝑦 𝑎𝑦 𝑝𝑦
2 0 a2 0 q2 𝑇0n = [ ] (22)
3 0 a3 0 q3 𝑛𝑧 𝑜𝑧 𝑎𝑧 𝑝𝑧
0 0 0 1
Solving the inverse kinematics problem is particularly signifi-
From the DH parameter table, we can determine the transfor-
cant in controlling ro-bots. In practice, we know the position and
mation matrices between coordinate systems.
orientation of the desired end effector point that we want to move
𝑐𝑞1 0 𝑠𝑞1 𝑎1 . 𝑐𝑞1 to, and we need to determine the joint values to meet the motion
𝑠𝑞 0 −𝑐𝑞1 𝑎1 . 𝑠𝑞1 requirements. Therefore, the solution of the inverse kinematics
𝑇10
= [ 1 ] (17) problem is one of the critical pieces of information for controlling
0 1 0 𝑑1
0 0 0 1 the operation of the robot.
𝑐𝑞2 −𝑠𝑞2 0 𝑎2 . 𝑐𝑞2 From equation (20)(22), there are:
𝑠𝑞 𝑐𝑞2 0 𝑎2 . 𝑠𝑞2
𝑇21 = [ 2 ] (18) 𝑛𝑥 𝑜𝑥 𝑎𝑥 𝑝𝑥
0 0 1 0
0 0 0 1 𝑛𝑦 𝑜𝑦 𝑎𝑦 𝑝𝑦
𝑐𝑞3 −𝑠𝑞3 0 𝑎3 . 𝑐𝑞3 𝑇30 = 𝑇10 . 𝑇21 . 𝑇32
= [ ]=
𝑛𝑧 𝑜𝑧 𝑎𝑧 𝑝𝑧
𝑠𝑞 𝑐𝑞3 0 𝑎3 . 𝑠𝑞3 0 0 0 1
𝑇32 = [ 3 ] (19)
0 0 1 0 𝑐𝑞1 . 𝑐(𝑞2 + 𝑞3 ) −𝑐𝑞1 . 𝑠(𝑞2 + 𝑞3 ) s𝑞1 𝑐𝑞1 . [𝑎3 . 𝑠(𝑞2 + 𝑞3 ) + 𝑎2 . 𝑠𝑞
0 0 0 1 𝑠𝑞 𝑐(𝑞 + 𝑞3 ) −𝑠𝑞1 . 𝑠(𝑞2 + 𝑞3 ) −c𝑞1 𝑠𝑞1 . [𝑎3 . 𝑠(𝑞2 + 𝑞3 ) + 𝑎2 . 𝑠𝑞
[ 1. 2
Where, abbreviation symbols are used as follows: 𝑐𝑞1 = s(𝑞2 + 𝑞3 ) c(𝑞2 + 𝑞3 ) 0 𝑎3 . 𝑠(𝑞2 + 𝑞3 ) + 𝑎2 . 𝑠𝑞2 +
cos(𝑞1 ), 𝑠𝑞1 = sin(𝑞1 ). 0 0 0 1
4
 G. Bell et al. / Journal of Mechanical Science and Technology 23 (2009) 1261~1269

(23) The SMC process involves two main steps: sliding mode de-
Deduce: sign and control. In the sliding mode design step, a sliding sur-
face is defined in the state space such that the system's dynam-
[𝑇10 ]−1 ⋅ 𝑇30 = 𝑇21 ⋅ 𝑇32 = 𝑇31 (24) ics move the system along this surface. The sliding surface is
A homogeneous matrix is a matrix of the form: designed such that it is attractive, meaning that the system's
states will converge to the surface as time goes on. In the control
𝑛𝑥 𝑜𝑥 𝑎𝑥 𝑝𝑥 step, a control law is designed to drive the system to the sliding
𝑛𝑦 𝑜𝑦 𝑎𝑦 𝑝𝑦
𝑇=( ) (25) surface and keep it there. The control law is typically designed
𝑛𝑧 𝑜𝑧 𝑎𝑧 𝑝𝑧
such that the system is pushed towards the sliding surface if it
0 0 0 1
According to [21], the inverse matrix of matrix T denoted as moves away from it, and the control inputs are bounded to en-
−1
𝑇 will be: sure that the system stays on the sliding surface.
One of the main advantages of SMC is that it is robust to mod-
𝑛𝑥 𝑛𝑦 𝑛𝑧 −𝑝. 𝑛 eling errors and uncertainties in the system. Because the control
𝑜𝑥 𝑜𝑦 𝑜𝑧 −𝑝. 𝑜 law is designed to drive the system to a specific sliding surface,
𝑇 −1 = (𝑎 𝑎 𝑎𝑧 −𝑝. 𝑎 ) (26)
𝑥 𝑦 the system's behavior is less sensitive to changes in the sys-
0 0 0 1 tem's parameters or disturbances.
Substituting into the expression: SMC has been applied to a wide range of applications, includ-
ing robotics, aerospace, automotive, and power systems. One
𝑇21 . 𝑇32 = of the challenges in designing an SMC system is choosing the
cos(𝑞2 + 𝑞3 ) −sin(𝑞2 + 𝑞3 ) 0 𝑎3 ⋅ cos(𝑞2 + 𝑞3 ) + 𝑎2 ⋅ cos (𝑞2 )
appropriate sliding surface and control law for the specific appli-
sin (𝑞 + 𝑞 ) cos (𝑞 + 𝑞 ) 0 𝑎 ⋅ sin(𝑞 + 𝑞 ) + 𝑎 ⋅ sin (𝑞 ) In addition, the control inputs can be discontinuous,
( 2 3 2 3 3 2 3 2 2
cation. )
0 0 1 0 which can lead to chattering and limit the achievable perfor-
0 0 0 1 mance. Therefore, the design of an SMC system requires care-
(27)
ful consideration of the specific application and the trade-offs be-
Balancing the corresponding element at row 3, column 4 of
tween performance and robustness.
the two matrices, obtain:
Let θd be the desired response of the manipulator, θ be the
actual output of the manipulator. The control objective is to bring
sin(𝑞1 ) ⋅ 𝑝𝑥 − cos(𝑞1 ) ⋅ 𝑝𝑦 = 0 (28)
θ to θd with the smallest error. Define control error as (32).
Deduce:
e = θ − θd (32)
q1 = atan 2(py , px ) (29) ̅̅̅̅ ):
Sliding surface sI (with i = 1,3
Through the position of the Robot's end-effector point, also
determine the values of the joint variables:
si = ė i + a i ei (33)
In which
𝑎3 ⋅ cos(𝑞2 + 𝑞3 ) + 𝑎2 ⋅ cos(𝑞2 ) = cos(𝑞1 ) ⋅ 𝑝𝑥 + sin(𝑞1 ) ⋅ 𝑝𝑦 − 𝑎1
{
𝑎3 ⋅ sin(𝑞2 + 𝑞3 ) + 𝑎2 ⋅ sin(𝑞2 ) = 𝑝𝑧 − 𝑑1
ai > 0
(30)
Choose the control law u such that:
Deduce:
ṡ 1 𝑘1 . 𝑠𝑖𝑔𝑛(𝑠1 )
𝑝 −𝑑 𝑎 ⋅sin(𝑞 )
𝑞2 = atan 2 ( (𝑞 )⋅𝑝 𝑧 (𝑞 1
) − atan ( 3 (𝑞 )+𝑎 3
) ṡ = [ṡ 2 ] = − [𝑘2 . 𝑠𝑖𝑔𝑛(𝑠2 )] (34)
cos 1 𝑥 +sin 1 )⋅𝑝𝑦 −𝑎1 𝑎3 ⋅cos 3 2
{ 2 ṡ 3 𝑘3 . 𝑠𝑖𝑔𝑛(𝑠3 )
[cos(𝑞1 )⋅𝑝𝑥 +sin(𝑞1 )⋅𝑝𝑦 −𝑎1 ] +(𝑝𝑧 −𝑑1 )2 −(𝑎3 2 +𝑎2 2 )
𝑞3 = ∓𝑎cos Sliding control law:
2⋅𝑎2 ⋅𝑎3
(31)
𝑢 = [𝐹(𝜃, 𝜃̇ ) + 𝐺(𝜃)] +
𝜃̈1𝑑 − 𝑎1 (𝜃1 − 𝜃̇1𝑑 ) − 𝑘1 . 𝑠𝑖𝑔𝑛(𝑠1 )
3. Adaptive sliding control using Neural 𝑀 [𝜃̈2𝑑 − 𝑎2 (𝜃2 − 𝜃̇2𝑑 ) − 𝑘2 . 𝑠𝑖𝑔𝑛(𝑠2 )] (35)
network and Logic Fuzzy controller
𝜃̈3𝑑 − 𝑎3 (𝜃3 − 𝜃̇3𝑑 ) − 𝑘3 . 𝑠𝑖𝑔𝑛(𝑠3 )
3.1 Sliding mode control.
Sliding mode control (SMC) is a type of control system that is
3.2 Sliding mode control- Fuzzy Logic control.
used to stabilize dynamic systems, particularly those with uncer- Fuzzy Logic Control (FLC) is a type of control system that
tain or nonlinear dynamics. The main idea behind SMC is to uses fuzzy logic to model and control complex systems. Fuzzy
force the system to follow a specific trajectory or sliding surface logic is a mathematical framework that allows for reasoning with
in the state space, regardless of the system's initial conditions uncertain or ambiguous information. It is based on the idea of
or disturbances. partial truth, where an input can have a degree of membership
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0000 Journal of Mechanical Science and Technology 00 (0) (2020)

in different categories. From (19) deduce:

In FLC, the system to be controlled is modeled as a set of
rules, where each rule relates the inputs to the outputs. The in- V̇ = − ∑3i=1 si . k i . sign(si ) (38)
puts and outputs are represented as fuzzy sets, which allows for V̇ = − ∑3i=1|si |. k i (39)
a more flexible and natural representation of the system. Therefore, the fuzzy rule is defined as follows:
The FLC process involves three main steps: fuzzification, rule IF |sI | is NB THEN k I is NB
evaluation, and defuzzification. In the fuzzification step, the in- IF |sI | is NM THEN k I is NM
puts to the system are transformed into fuzzy sets using mem- IF |sI | is NS THEN k I is NS
bership functions that map the input values to degrees of mem- IF |sI | is Z THEN k I is Z
bership in different categories. In the rule evaluation step, the IF |sI | is PS THEN k I is PS
fuzzy rules are applied to the fuzzy inputs to produce a fuzzy IF |sI | is PM THEN k I is PM
output. The rules are typically expressed in the form of IF-THEN IF |sI | is PB THEN k I is PB
statements, where the antecedent (IF) is a combination of fuzzy Where:
sets, and the consequent (THEN) is a fuzzy set that represents NB: Negative Big
the output. In the defuzzification step, the fuzzy output is trans- NM: Negative Medium
formed into a crisp output using a defuzzification method such NS: Negative Small
as centroid, mean of maxima, or weighted average. Z: Zero
FLC is often used in control systems where traditional control PS: Positive Small
methods are difficult to apply, such as systems with nonlinear PM: Positive Medium
dynamics or uncertain parameters. FLC has been applied to a PB: Positive Big
wide range of applications, including robotics, manufacturing, From all the above data, programming the fuzzy rule definition
transportation, and process control. of the problem in Algorithm 1 below:
One of the advantages of FLC is its ability to handle imprecise
or incomplete information. This makes FLC a useful tool for Algorithm 1. Fuzzy set algorithm.
modeling and controlling complex systems where traditional Algorithm
methods may be inadequate. However, the design of an FLC [System]
system can be challenging, as it requires careful selection of Name='Fuzzyset'
membership functions and rule sets to ensure good perfor- Type='mamdani'
mance. Version=2.0
Consider the Sliding mode control system - Fuzzy Logic con- NumInputs=1
trol [22-25]. NumOutputs=1
The amplitude of the control rule is estimated online by fuzzy NumRules=7
inference system with fuzzy rules of the following form: AndMethod='min'
IF sI is Ami THEN k I is Bim OrMethod='max'
̅̅̅̅
Within i = 1,3 ImpMethod='min'
Where Ami and Bim are fuzzy sets (Figure 3). AggMethod='max'
DefuzzMethod='centroid'

[Si]
Name='|Si|'
Range=[0 1]
NumMFs=7
MF1='NB':'gaussmf',[0.07078 0]
Fig. 3. Fuzzy set of sI and k i MF2='NM':'gaussmf',[0.07078 0.1667]
The membership functions used are Gaussian functions [17]. MF3='NS':'gaussmf',[0.07078 0.3333]
MF4='Z':'gaussmf',[0.07078 0.5]
si −αi 2
μA (si ) = exp (− ( ) ) (36) MF5='PS':'gaussmf',[0.07078 0.6667]
σi
MF6='PM':'gaussmf',[0.07078 0.8333]
Where:
̅̅̅̅ , k I ≥ 0 MF7='PB':'gaussmf',[0.07078 1]
i = 1,3
αi , σI are the center and width of the ith Gaussian function,
[Ki]
respectively.
Name='Ki'
Choose a positive definite function.
Range=[0 1]
1 NumMFs=7
V = ∑3i=1 si2 (37)
2

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 G. Bell et al. / Journal of Mechanical Science and Technology 23 (2009) 1261~1269

MF1='NB':'gaussmf',[0.07078 0] of artificial neural network commonly used in prediction, classifi-

MF2='NM':'gaussmf',[0.07078 0.1667] cation, and control applications. Some advantages of RBFNN
MF3='NS':'gaussmf',[0.07078 0.3333] compared to other types of artificial neural networks include:
MF4='Z':'gaussmf',[0.07078 0.5] Fast learning and high accuracy: RBFNN can quickly learn
MF5='PS':'gaussmf',[0.07078 0.6667] and process input sig-nals while ensuring high accuracy in pre-
MF6='PM':'gaussmf',[0.07078 0.8333] diction and classification.
MF7='PB':'gaussmf',[0.07078 1] Good noise resistance: RBFNN can handle and minimize the
impact of noise on input signals, ensuring accurate prediction
[Rules] and classification results.
1, 1 (1) : 1 Simple design: RBFNN has a simple and easy-to-understand
2, 2 (1) : 1 structure that can be built and deployed easily.
3, 3 (1) : 1 Scalability: RBFNN can be expanded to solve more complex
4, 4 (1) : 1 problems by adding multiple layers of neurons or changing the
5, 5 (1) : 1 network's parameters.
6, 6 (1) : 1 High reliability: RBFNN has high reliability in prediction and
7, 7 (1) : 1 classification, espe-cially when there are changes in input data.
In summary, RBFNN is an effective choice in solving predic-
3.3 Sliding control using RBFNN network. tion, classification, and control problems, especially in real-world
environments with noise and uncertain-ty.
RBFNN stands for Radial Basis Function Neural Network. It In this study consider the Sliding control system using RBF
is a type of artificial neural network (ANN) that uses radial basis neural network [25-27].
functions as activation functions. The nonlinear system is given as (40)
RBFNNs are typically used for function approximation or pat-
tern recognition tasks, where the goal is to map input data to ẋ = f(x) + g(x)u
output data. They are composed of three layers: an input layer, { (40)
𝑦 = ℎ(𝑥)
a hidden layer, and an output layer. The hidden layer contains a where x= [x1, x2,...,xn]T is the state vector, u is the input signal,
set of radial basis functions that transform the input data into a y is the output signal, f(x) and g(x) are the nonlinear functions
higher-dimensional feature space. Each radial basis function describing the characteristic kinematics of the system.
has a center point and a width, which are learned during the Suppose (41) does not contain u and (42) contains u.
training process.
During the training process, the weights and biases of the net- 𝑑 𝑟−1 𝑦 (𝑟−1) (𝑟−2)
= L𝑓 h(x) + L𝑓 L𝑔 h(x) (41)
work are adjusted using a supervised learning algorithm such 𝑑𝑡 𝑟−1
𝑑 𝑟𝑦 (𝑟) (𝑟−1)
as backpropagation. The algorithm tries to minimize the differ- = L𝑓 h(x) + L𝑓 L𝑔 h(x)u (42)
𝑑𝑡 𝑟
ence between the network's predicted output and the true output Where:
𝜕ℎ(𝑥)
for a set of training examples. 𝐿𝑓 ℎ(𝑥) = 𝑓(𝑥) is the Lie derivative in the f(x) direction.
𝜕𝑥
𝜕ℎ(𝑥)
Once the network is trained, it can be used to make predic- 𝐿𝑔 ℎ(𝑥) = 𝑔(𝑥) is the Lie derivative in the g(x) direction.
𝜕𝑥
tions on new input data. The input data is transformed into the From (42) deduce:
higher-dimensional feature space using the radial basis func-
tions, and the output of the network is computed using the 𝑦 (𝑟) = a(x) + b(x)u (43)
weights and biases learned during training. Within:
RBFNNs have several advantages over other types of ANNs.
They are relatively easy to train and can be used for both re- (r)
a(x) = Lf h(x) (44)
gression and classification tasks. They also have a simpler ar- b(x) = Lf
(r−1)
Lg h(x) (45)
chitecture than other ANNs, which makes them faster to com-
The control law u is determined such that:
pute and easier to interpret.
However, RBFNNs can be sensitive to the choice of radial ba-
y (r) = v(t) (46)
sis functions and the number of hidden neurons. If the number
Where v(t) is the new control signal.
of hidden neurons is too small, the network may not be able to
From (44), (45) and (46) deduce:
capture the complexity of the data. If the number of hidden neu-
rons is too large, the network may overfit the data and perform 1
u∗ (x) = [−a(x) + v(t)] (47)
poorly on new exam-ples. Therefore, choosing an appropriate b(x)
number of hidden neurons and radial basis functions is an im- The control law v(t) is determined based on the pole assign-
portant part of training an RBFNN. ment method with the characteristic equation:
The Radial Basis Function neural network (RBFNN) is a type
𝑒 (𝑟) + k1 𝑒 (𝑟−1) + ⋯ + k 𝑟−1 𝑒 1 = 0 (48)

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0000 Journal of Mechanical Science and Technology 00 (0) (2020)

Where:
ym (t): Is the desired output value ė s + ηes = −b∅̃Tu Ψu (x) + bδu − bus (61)
y(t): Actual output value Choose a positive definite function:
k1,k2,...,kr-1: is chosen so that (48) has a negative definite so-
1 2 1 T
lution. V= e ̃u Q u ∅̇u
+ ∅ (62)
2b s 2
Deduce:
𝑒(𝑡) = ym (t) − 𝑦(𝑡) (49)
From (46), (48) and (49) deduce: 1 b ̇
V̇ = es eṡ − 2 e2s + ∅ ̃Tu Q u ∅̇u (63)
b 2b
(r) Where ∅̃u = ∅̇u , Q u is a positive definite matrix.
ym (t) − v(t) + k1 e(r−1) + ⋯ + k (r−1) e = 0 (50)
Or: Replace (61) into (63):

ηe 2 ḃ
(r)
ym (t) + k1 e(r−1) + ⋯ + k (r−1) e = v(t) (51) ̃Tu (Q u ∅̇u − Ψu es ) −
V̇ = − s − es us + es δu + ∅ e2s
b 2b2
Set [28]: (64)
Based on [28], (64) adaptive parameter update rule
e̅s + ηes (t) = k1 e(r−1) + ⋯ + k (r−1) e (52)
Where: ∅̇u = Q−1
u Ψu es (65)
es (t) = k1 e(r−1) + k 2 e(r−2) + ⋯ + k (r−1) e Replace (64) in (65), there are
η: is a positive constant.
ηe 2 ḃ ηe2
e̅s = ė s − e(r) V̇ = − s − es us + es ( δu − es ) ≤ − s
− es us +
b 2b2 b
The control law (47) is approximated by the RBFNN network: Db
|es | ( ̅δu + 2 |es |) (66)
2b
û(x) = ∅Tu Ψu (x) (53) ̇
where b(x) ≤ Db , Db is a continuous function [29].
D
Where If us =2( ̅δu + b2 |es |) 𝑠𝑖𝑔𝑛(es ) is chosen, (66) becomes
ηes 2b
Ψu (x): is a Gaussian basis function V̇ = − ≤ 0, so the closed system is stable according to Lya-
b
∅u : is the weight that updates such that 𝑢̂ approaches u∗ punov's criterion.
Because 𝑢̂ is estimated by RBFNN network with a finite The RBFNN network (Figure 4) plays the role of estimating
number of neurons in the hidden layer, so errors are unavoida- nonlinear functions in the control law so that the closed system
T
ble. Let δu (x) be the structural error: is stable. The input to the network is [θi , θ̇i ] , the output is the
adaptive control law uce. It updated weights online based on
u∗ (x) = ∅∗T
u Ψu (x) + δu (x) (54) (65).
Difference between 𝑢̂ and u∗

û(x) − u∗ (x) = ∅ ̃Tu Ψu (x) − δu (x) (55)

Where ∅ ̃Tu = ∅𝑢 − ∅∗𝑢 estimated parameter error. Due to
the structural error, the control law has the following form.

𝑢 = û + us (56)
Where u_s is the sliding control law chosen so that the closed
system is stable.
From (43) deduce:

y (r) = a(x) + b(x)u(t) = a(x) + b(x)u∗ (t) +

b(x)[u(t) − u∗ (t)] (57) Fig. 4. RBFNN Network.
compare (47) and (57), there are:
Ψi = [Ψ1i Ψ2i … Ψ9i ]T is Gauss base function, ∅i =
(r) ∗ (t)]
y = v(t) + b(x)[u(t) − u (58) [∅1i ∅2i … ∅9i ]T is the update parameter. The jth Gaussian
Output error is set basis function is defined as follows:
(r)
e(r) = ym − y (r) (59) 2
(θi −c1j ) +(θ̇i −c2j )
2
Ψji = exp (− ) (67)
Replace (58) in (59) δ2
j

Where
̃Tu Ψu (x) + bδu − bus
e(r) = −e̅s − ηes − b∅ (60) j = ̅̅̅̅
1,9
From (60) there are: The widths of the Gaussian basis functions are chosen

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 G. Bell et al. / Journal of Mechanical Science and Technology 23 (2009) 1261~1269

equally: σj = 0.9 force depends on the viscosity of the water and the speed of the
̅̅̅̅)
ckj is the base function center (k = 1,2 manipulator. The formula for calculating molecular resistance:

3.4 Adaptive sliding controller using fuzzy neu- 𝐹 = 6. π. η. r. v (70)

ral model. Where:
F is the molecular resistance.
The adaptive sliding controller using fuzzy neural model is a
η is the viscosity of the water.
combination of fuzzy sliding controller and sliding controller us-
r is the radius of the manipulator.
ing RBFNN network [30-34]. Fuzzy logic estimates the controller
v is the speed of the manipulator.
in (56) online to reduce oscillation. And the RBFNN network will
The total resistive force on the manipulator is calculated by
identify the control law based on estimating the nonlinear func-
adding up all the resis-tive forces, namely:
tions in the control rule so that the closed system is stable. The
schematic diagram depicting the adaptive sliding controller us-
𝐹𝑡𝑜𝑡𝑎𝑙 = 𝐹frictional +𝐹pressure +𝐹molecular (71)
ing fuzzy neural model is presented in (Figure 5).

4. Results and Discussion

When d(t)=0.01*sin(0.06πt) noise or random noise (with zero
mean, 0.01 variance, initial value is random) affects the manip-
ulator and object parameters change as follows: the weight of
joint 1 increased by 50% at 10s, joint 2 increased by 10% at 20s
and joint 3 increased by 20% at 40s. The results show that the
response of the manipulator system has no oscillations and
overshoots, the steady-state error approaches zero (see Table
2). The concordance between the response of the manipula-tor
and the reference signal was 96% (Figure 6). The phase trajec-
tory has no oscillation around the slip surface (Figure 10). This
Fig. 5. Schematic of adaptive sliding mode control using fuzzy neural model. result is obtained due to the online esti-mation of the control rule
us using fuzzy logic (Figure 9) and the online identification of the
3.5 Noise when working underwater. control rule based on the estimation of nonlinear functions using
The resistance forces on a subsea manipulator include: the RBFNN network (Figure 8). The adaptive sliding control law
Frictional resistance: This is the resistance caused by the fric- using fuzzy neural model is pre-sented in Figure 7.
tion between the surface of the manipulator and the water. This
Table 2. Quality parameters of the manipulator response.
force depends on the manipulator's speed, the surface area in
contact, and the viscosity of the water. The formula for calculat- Joint 1 Joint 2 Joint 3
𝜋 𝜋 𝜋
ing frictional resistance: Overshot ± ± 3%(Ra ± ± 4%(Ra ± ± 5%(Ra
2 2 2
d) d) d)
Risetime 5 ± 3%(s) 5 ± 3%(s) 5 ± 3%(s)
𝐹 = 𝑘. 𝑣 (68)
Ess 0.68% 1.24% 1.32%
Where:
F is the frictional resistance.
k is the coefficient of friction.
v is the speed of the manipulator.
Pressure resistance: This is the resistance caused by the wa-
ter pressure acting on the surface of the manipulator. This force
depends on the depth below the sea and the speed of the ma-
nipulator. The formula for calculating pressure resistance:

1
𝐹= . ρ. A. 𝑣 2 (69)
2
Where:
F is the pressure resistance.
ρ is the density of the water.
A is the surface area of the manipulator.
v is the speed of the manipulator.
Fig. 6. Response of the manipulator.
Molecular resistance: This is the resistance caused by water
molecules hindering the movement of the manipulator. This

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0000 Journal of Mechanical Science and Technology 00 (0) (2020)

To verify the superiority of the proposed controller in the study,

the author con-ducted simulations with the traditional PID con-
troller with P=1.43, I=0.005, D=0.5 and found that compared to
the traditional controller, the intelligent controller exhibits stability
and closely tracks the signal of the specified values represented
in figures 11, 12, 13, 14, 15 and 16. All simulations are under
the influence of noise when working under-water (section 3.5).

Fig. 7. Control law 𝑢 = û + us

Fig. 11. The control signal Joint 1 of the Proposed controller signal

Fig. 8. The adaptive control rule is recognized by the RBFNN network.

Fig. 12. The control signal Joint 1 of the Traditional PID controller signal

Fig. 9. Sliding control law is estimated by fuzzy logic.

Fig. 10. Sliding surface of manipulator system. Fig. 13. The control signal Joint 2 of the Proposed controller signal

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 G. Bell et al. / Journal of Mechanical Science and Technology 23 (2009) 1261~1269
Fig. 14. The control signal Joint 2 of the Traditional PID controller signal
Fig. 15. The control signal Joint 3 of the Proposed controller signal
Fig. 16. The control signal Joint 3 of the Traditional PID controller signal
Through the above examples, we can see that the noise elim-
ination and stability in the results show more efficiency.
Besides that, in the paper "Neural adaptive robust motion-
tracking control for robotic manipulator systems" [35], the pro-
posed control method uses neural networks to learn and adjust
the control parameters. However, this method does not use the
sliding mode technique, while our proposed method combines
both the sliding mode and fuzzy logic algorithm.
In the paper "Robust control based on adaptive neural net-
work for the process of steady formation of continuous contact
force in unmanned aerial manipulator" [36], the proposed control
method is based on adaptive neural networks to determine the
control parameters. However, this method does not use sliding
mode technique and is not designed to address the issues of
precise and stable control for underwater manipulators.
In our proposed control method, we combine both sliding
mode and fuzzy logic algorithms to achieve better performance
in controlling the underwater manipulator. Additionally, we also
calculate and minimize the effect of noise on the control pro-
cess.
To develop the controller sliding mode control combined with
neural-network and fuzzy logic control can be applied to control
robotic arms in practical applications. The following are some
basic steps for implementing this control system:
Determine the objective of the robotic arm system: Before im-
plementing the control system, having to determine the objective
of the robotic arm system, such as reaching a specific position
or maintaining stability at a certain position.
Identify the model of the robotic arm system: Having to identify
the model of the robotic arm system, including important param-
eters such as position, velocity, and acceleration.
Design the control model: After identifying the model of the
robotic arm system, having to design the control model, includ-
ing the necessary parameters to achieve the system objective.
Calculate and program the control equations: By using the
control equations de-signed previously, you can calculate the
control parameters and program them into the control system.
Set up the neural-network: Having to set up the neural-net-
work with the necessary parameters for controlling the robotic
arm.
Set up the Fuzzy logic control system: Having to set up the
Fuzzy logic control system and related parameters to optimize
the performance of the control system.
Combine the control methods: Having to combine control
methods such as Sliding mode control, neural-network, and
Fuzzy logic control to achieve the highest efficiency in controlling
the robotic arm.
Test and adjust: After setting up the control methods, having
to test and adjust the parameters to achieve the highest effi-
ciency in controlling the robotic arm system.
5. Conclusions
1. A sliding mode controller based on fuzzy control and
RBFNN network is proposed in this paper to monitor the oper-
ating trajectory of the robot controller.
2. An adaptive rule is used to online tune the weights of the
RBFNN, which are used to compute the equivalence control.
The adaptive training algorithm is derived from the meaning of
the Lyapunov stability analysis, so that the stability of the closed-
loop system can be guaranteed even in the case of uncertainty.
Using RBFNN, instead of a multi-layer feed-forward network
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0000 Journal of Mechanical Science and Technology 00 (0) (2020)
trained with backpropagation, shortens the reach of time. Prob-
lem-solving in SMC is minimized with the proposed controller.
3. The simulation results show that the joint position tracking
responses follow the desired trajectories of perturbations and
frictional forces.
4. In addition, the simulation results demonstrate that the
fuzzy sliding mode controller based on the radial basis function
neural network proposed in this paper is a stable control scheme
for monitoring applications. Close the trajectory of the robot con-
trol mechanism.
5. The adaptive sliding controller using a fuzzy neural model
has indicated the adaptability of both noise and time-varying ob-
ject parameters. In this controller, we use fuzzy logic to estimate
the control law amplitude online to limit the oscillation. At the
same time, using the RBFNN network determines control law
based on nonlinear function estimation to ensure a stable closed
system.
Acknowledgments
Author Contributions: D.-A.P.; Formal analysis, software,
resources, data curation, writing—original draft preparation,
data collected and analyzed, visualization, S.-H.H.; supervision,
project administration, writing—review and editing. All authors
have read and agreed to the published version of the manuscript.
Funding: This work was supported by the research grant of
the Gyeongsang National University in 2023.
Institutional Review Board Statement: Not applicable.
Informed Consent Statement: Not applicable.
Data Availability Statement: Not applicable.
Conflicts of Interest: The authors declare no conflict of inter-
est.
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