Trajectory Tracking of a Flexible Robot Manipulator by a New Optimized Fuzzy Adaptive Sliding Mode-Based Feedback Linearization Controller

<div>Changing of the adaptive parameters (<span class="nowrap"><svg height="9.63828pt" id="M163" style="vertical-align:-0.2063904pt" version="1.1" viewbox="-0.0498162 -9.43189 7.47218 9.63828" width="7.47218pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,1.207,-.405)"><path d="M470 557C393 591 314 624 246 666H224C156 624 76 591 0 557L12 532C86 550 163 573 235 596C309 572 384 550 458 532L470 557Z"></path></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M548 455L523 469C505 448 490 439 461 439C416 439 374 447 316 447C144 447 23 310 23 161C23 47 89 -12 179 -12C312 -12 429 106 429 244C429 303 419 344 368 386L371 388C404 383 440 378 474 378C507 378 530 411 548 455ZM350 274C350 191 308 25 198 25C144 25 108 75 108 157C108 264 170 395 276 395C296 395 320 384 333 360C347 334 350 316 350 274Z"></path></g></svg>,</span> <span class="nowrap"><svg height="12.783pt" id="M164" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -12.5766 6.84582 12.783" width="6.84582pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,1.155,-3.549)"><path d="M470 557C393 591 314 624 246 666H224C156 624 76 591 0 557L12 532C86 550 163 573 235 596C309 572 384 550 458 532L470 557Z"></path></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M494 514C482 587 419 712 303 712C238 712 174 667 174 603C174 561 205 514 249 449C219 438 187 422 162 407C93 366 23 283 23 177C23 69 87 -12 190 -12C244 -12 288 5 328 33C406 87 444 170 444 249C444 329 404 391 331 475C265 550 222 605 222 627C222 647 238 657 267 657C355 657 421 585 484 499L494 514ZM359 234C359 143 319 30 219 30C172 30 114 75 114 178C114 275 163 343 195 378C212 397 241 415 269 425C305 382 359 313 359 234Z"></path></g></svg>,</span> and <span class="nowrap"><svg height="12.5351pt" id="M165" style="vertical-align:-0.6108999pt" version="1.1" viewbox="-0.0498162 -11.9242 6.36303 12.5351" width="6.36303pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,.065,-2.897)"><path d="M470 557C393 591 314 624 246 666H224C156 624 76 591 0 557L12 532C86 550 163 573 235 596C309 572 384 550 458 532L470 557Z"></path></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M411 648L381 663L349 596C321 620 285 635 241 635C89 635 35 457 35 312C35 217 55 118 102 56L63 -24L92 -43L128 29C157 3 194 -12 240 -12C390 -12 443 166 443 312C443 406 424 507 374 569L411 648ZM141 132C126 185 119 247 119 312C119 465 149 601 239 601C278 601 305 577 321 542L141 132ZM338 497C355 434 360 373 360 312C360 159 329 21 240 21C202 21 174 47 157 85L338 497Z"></path></g></svg>)</span> over time.</div>

Journal of Robotics

fig7

Figure 7

Figure 7: Trajectory Tracking of a Flexible Robot Manipulator by a New Optimized Fuzzy Adaptive Sliding Mode-Based Feedback Linearization Controller 