Fuzzy Sliding Mode Controller (FSMC) with Global Stabilization and Saturation Function for Tracking Control of a Robotic Manipulator

摘要

This paper proposes development of an intelligent algorithm naming Fuzzy Sliding Mode Controller (FSMC) with global stabilization and saturation function for the trajectory control of robotic manipulators. A new exponential dynamic sliding function with PID has been developed. Fuzzy tuned gain of SMC is taken in this paper, which has chattering in it. This chattering effect of FSMC has been removed by using saturation function in place of signum function in FSMC. This FSMC with saturation function has reduced error and chattering. Various conventional techniques like Proportional Derivative (PD), Computed Torque Controller (CTC) and Sliding Mode Control (SMC) have been reviewed and compared with the proposed control scheme. From the results, it can be said that the proposed controller scheme can assure robustness against a continuous disturbance with chattering elimination.