Fuzzy sliding motion controller for six-degree-of-freedom robotic manipulator

Abstract

Sliding mode control and fuzzy tuning techniques are combined to generate a robust and an accurate fuzzy sliding controller for non-linear systems. The control law consisting of equivalent control, robust control, and fuzzy control is designed such that the equivalent control satisfies desirable dynamics. Reaching the sliding surface is guaranteed by the robust control term even in the presence of parameter and disturbance uncertainties. Fuzzy tuning schemes are employed to reduce the chattering problem around the sliding surface. The method is applied to the control of a six-degree-of-freedom robotic manipulator. Simulation results verify the validity of the proposed approach.