Robust fuzzy sliding mode control for tracking the robot manipulator in joint space and in presence of uncertainties

E-ISSN： 1469-8668|32|3|433-446

ISSN： 0263-5747

Source： Robotica, Vol.32, Iss.3, 2014-05, pp. : 433-446

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Abstract

This paper proposes a simple fuzzy sliding mode control to achieve the best trajectory tracking for the robot manipulator. In the core of the proposed method, by applying the feedback linearization technique, the known dynamics of the robot's manipulator is removed; then, in order to overcome the remaining uncertainties, a classic sliding mode control is designed. Afterward, by applying the TS fuzzy model, the classic sliding mode controller is converted to fuzzy sliding mode controller with very simple rule base. The mathematical analysis shows that the robot manipulator with the new proposed control in tracking the robot manipulator in presence of uncertainties has the globally asymptotic stability. Finally, to show the performance of the proposed method, the controller is simulated on a robot manipulator with two degrees of freedom as case study of the research. Simulation results demonstrate the superiority of the proposed control scheme in presence of the structured and unstructured uncertainties.