Adaptive Fuzzy Sliding Mode Controller of Three Link Robot Arm Manipulator

Abstract

This paper presents the design of an adaptive fuzzy sliding mode controller (AFSMC) for robotic manipulators. Most of the dynamic parameters in robotic manipulators are uncertain. To deal with uncertainties, the paper designed a high-performance non-linear controller for a three-degree-of-freedom robot manipulator. The trajectory tracking error of the three-degree-of-freedom robot manipulating arm has been controlled and eliminated in this study using SMC with adaptive fuzzy control. In order to adjust the sliding surface gain parameter and help it converge and stay at zero, the adaptive fuzzy logic control system and the direct method of the Lyapunov stability of the robot manipulator has been applied. The study conducts a comprehensive performance comparison between AFSMC, FSMC and SMC. AFSMC demonstrates improvements in performance across various trajectory scenarios. Moreover, AFSMC demonstrates superior robustness in the presence of parametric uncertainty(payload variation) and disturbances compared to FSMC and SMC.