Fuzzy-Terminal Sliding Mode Control of a Flexible Link Manipulator

Abstract

In this study, a terminal sliding mode controller is introduced, for trajectory tracking control, of a flexible link robot manipulator. Two important parameters are considered; angle of the link and tip deflection. To demonstrate the effectiveness of the developed controller, control gain parameters in the sliding mode controller are determined by using Fuzzy Logic Control law. Another important feature of the developed controller is that it is robust against external disturbances. Stability analysis of the system is guaranteed by the Lyapunov theory. Trajectory tracking errors, angles and tip deflection of the links are investigated for two different trajectories. When the results are examined, it is seen that the developed controller, with fuzzy logic, is effective, even if there are external disturbances and parametric uncertainties in the system.