Beta fuzzy sliding mode control of a manipulator robot

Abstract

This paper is concerned with a framework that combines sliding mode control and fuzzy logic systems. This controller is based on the variable structure system control theory and entails the advantages of sliding mode control and fuzzy logic control. The controlled system is a simulated two-links manipulator robot. It is found that the use of sliding mode controller gives good results yielding less coupling between freedom degrees. Moreover, the usage of fuzzy logic applied to the sliding mode controller leads a reduction of the size of the fuzzy inference system.