Design Novel Fuzzy Robust Feedback Linearization Control with Application to Robot Manipulator

Abstract

First three degree of six degree of freedom robotic manipulator is controlled by a new fu zzy sliding feedback linearizat ion controller. The robot arm has six revolute jo ints allowing the corresponding links to move horizontally. When developing a controller using conventional control methodology (e.g., feedback linearization methodology), a design scheme has to be produced, usually based on a system's dynamic model. The work outline in this research utilizes soft computing applied to new conventional contro ller to address these methodology issues. Feedback linearization controller (FLC) is influential nonlinear controllers to certain systems which this method is based on compute the required arm torque using nonlinear feedback control law. When all dynamic and physical parameters are known FLC works superbly; practically a large amount of systems have uncertainties and fuzzy feedback linearization controller (FFLC) reduce this kind of limitat ion. Fu zzy logic provides functional capability without the use of a system dynamic model and has the characteristics suitable for capturing the approximate, varying values found in a MATLAB based area. To increase the stability and robustness new mathematical switching slid ing mode methodology is applied to FFLC. Based on this research model free mathemat ical tunable gain new sliding switching feedback linearizat ion controller applied to robot manipulator is presented to have a stable and robust nonlinear controller and have a good result compared with conventional and pure fu zzy logic controllers.