Control of robot manipulator using a fuzzy model-based sliding mode control scheme

Abstract

A sliding mode control scheme based on fuzzy model for the control of robot manipulator is proposed. The motivation behind this scheme is to construct a fuzzy model to describe the robust behavior of a conventional sliding mode control scheme to achieve fast and accurate tracking control of robot manipulators. The proposed scheme can alleviate chatter without sacrificing the inherent robustness of the sliding mode scheme through a nonlinear continuous approximation as compared to the so-called boundary-layer approach. For validation, experiments are performed in a five-axis ITRI type-A robot manipulator. The results show that both alleviation of chatter and robust performance are achieved.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>