Adaptive fuzzy nonsingular terminal sliding mode controller for robot manipulator actuated by pneumatic artificial muscles

摘要

In this paper, we deal with the robust control of robot manipulator actuated by pneumatic artificial muscles. The control consists on the combination of the nonsingular terminal sliding mode which is based on the time delay estimation method and an adaptive fuzzy logic system based on the gradient descends algorithm. First, the nonsingular terminal sliding mode control approach was presented and the stability of the system in closed loop was analyzed using Lyapunov stability theorem. Second, adaptive fuzzy logic scheme is proposed for reducing the chattering effect. Third, in order to proof the efficiency and the superiority of the proposed approach, this last is experimented and compared to nonsingular terminal sliding mode controller and to fuzzy nonsingular terminal sliding mode controller under 2-DOF robot manipulator actuated by pneumatic artificial muscles.