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Mathematical Problems in Engineering
Volume 2013, Article ID 161325, 15 pages
Research Article

Adaptive Fuzzy Dynamic Surface Sliding Mode Position Control for a Robot Manipulator with Friction and Deadzone

Department of Electronic Engineering, Pusan National University, Jangjeon-dong, Geumjeong-gu, Busan 609-735, Republic of Korea

Received 23 July 2013; Revised 20 October 2013; Accepted 20 October 2013

Academic Editor: Xudong Zhao

Copyright © 2013 Jeong Yun Cheong et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Precise tracking positioning performance in the presence of both the deadzone and friction of a robot manipulator actuator is difficult to achieve by traditional control methodology without proper nonlinear compensation schemes. In this paper, we present a dynamic surface sliding mode control scheme combined with an adaptive fuzzy system, state observer, and parameter estimator to estimate the uncertainty, friction, and deadzone nonlinearities of a robot manipulator system. We design a dynamic surface sliding mode basic controller by systematic recursive design steps that yields several adaptive laws for the compensation of nonlinear friction, deadzone, and other unknown nonlinear dynamics. The boundedness and convergence of this closed-loop system are guaranteed by the Lyapunov stability theorem. Experiments on the Scorbot robot manipulator demonstrate the validity and effectiveness of the proposed control scheme.