Eliminating chattering phenomenon in sliding mode control of robot manipulators in the joint space using fuzzy logic

In industrial robotic manipulator, due to the presence of quite nonlinear dynamic and structural and nonstructural uncertainties, a precise model is not easily obtained. As a result, designing a model-based controller with a suitable function is a challenging issue. Sliding mode control is a robust control with numerous applications which can overcome the aforementioned uncertainties. However, this control method has several defects such as chattering in input control in implementing stage. In this article, Fuzzy sliding mode control based on TSK method for controlling manipulator position tracking is suggested. This control method not only has advantages of sliding mode but also it has no chattering control effect in implementation process. To justify the performance of proposed Fuzzy based SMC in control signal chattering, a robot manipulator with two revolute joint has been used. The simulation results reveal the desirable efficiency of Fuzzy sliding mode control.

کلیدواژه ها:

Robot manipulator ، Joint space ، Uncertainty ، Fuzzy sliding mode control ، TSK method ، Chattering