Adaptive Fuzzy Sliding Mode Optimum Control, Using the Fuzzy Control in Flat Robot

摘要

Control of an industrial robot consist of nonlinear terms that causes the uncertainty and external turmoil and must be considered in control law designing.In this study, a control strategy will be presented for the robot arms, based on fuzzy logic control connection and sliding mode control (SMC).The using motivation of SMC in robotic is mainly the admirable features of it such as design simplicity and resistivity.However, the chattering effect could be destructive especially in typical SMC.In this article, the problem have been resolved, adapting between a Comparative Fuzzy Sliding Mode Control to a sliding flat (PID).For the suggested method, a fuzzy logic control has been used for the providing of impact control signals.In addition, the output gain of the Fuzzy Sliding Mode Control (FSMC), is set by a supervised fuzzy system as online to prevent of chattering.System stability is guaranteed from the aspect of Lyapunov stability theorem.The numerical simulation, using the dynamic model of a rigid flat robot arm with three degree of freedom, comparing the results of this simulation with general SMCs with PID sliding level, reveals the efficiency of robot system control.The suggested AFSMC can fulfilled the route tracking of intended path and is resistant against of uncertainties and disturbances.