Control of an Uncertain Robot Manipulator Using an Observation-based Modified Fuzzy Sliding Mode Controller

Abstract

The main contribution of this paper is the design of a robust model reference fuzzy sliding mode observation technique to control multi-input, multi-output (MIMO) nonlinear uncertain dynamical robot manipulators. A fuzzy sliding mode controller was used in this study to control the robot manipulator in the presence of uncertainty and disturbance. To address the challenges of robustness, chattering phenomenon, and error convergence under uncertain conditions, the proposed sliding mode observer was applied to the fuzzy sliding mode controller. This theory was applied to a sixdegrees-of-freedom (DOF) PUMA robot manipulator to verify the power of the proposed method.