Trajectory tracking for a 3-DOF robot manipulator based on PSO and adaptive neuro-fuzzy inference system

Abstract

This paper proposes a sliding mode control strategy based on PSO (particle swarm optimization) and ANFIS (adaptive neuro-fuzzy inference system) to realize the trajectory tracking control of a 3-DOF robot manipulator. Firstly, the desired trajectory of the system end effector is discretized and PSO is employed to get the discrete joint angles of the robot manipulator. Then ANFIS is applied to turn the discrete joint angles into continuous joint angles. Finally, sliding mode controllers based on continuous joint angles are designed to perform the trajectory tracking of the robot manipulator. Simulation results validate the effectiveness of the control strategy.