Robust control of a spatial robot using fuzzy sliding modes

Authors:
Nurkan Yagiz;Yuksel Hacioglu
Affiliations:
Department of Mechanical Engineering, Faculty of Engineering, Istanbul University, 34320 Avcilar, Istanbul, Turkey;Department of Mechanical Engineering, Faculty of Engineering, Istanbul University, 34320 Avcilar, Istanbul, Turkey
Venue:
Mathematical and Computer Modelling: An International Journal
Year:
2009

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Abstract

In order to improve the performance of the sliding mode controller, fuzzy logic sliding mode controller is proposed in this study. The control gain of the conventional sliding mode controller is tuned by a fuzzy logic rule base and, also dynamic sliding surfaces are obtained by changing their slopes using the error states of the system in another fuzzy logic algorithm. These controllers are then combined in order to enhance the performance. Afterwards, proposed controllers were used in trajectory control of a three degrees of freedom spatial robot, which is subjected to noise and parameter variations. Finally, the controllers introduced are compared with a PID controller which is commonly used for control of robotic manipulators in industry. The results indicate the superior performance of the proposed controller.