Enhancement of unbalanced robot performance using fuzzy sliding mode control

Abstract

An unbalanced robot faces difficulties in balancing its tilt to an upright position due to its intrinsic instability. Simulation, implementation in real time and performance testing of a fuzzy sliding mode controller for an unbalanced robot are the targets of this research. PID, sliding mode control and fuzzy logic control are designed to compare the proposed controller in both real time and simulation to achieve the robot's balancing. The main development of this technology is to combine the advantages of fuzzy logic and sliding mode in one model, directly controlling the tilt angle to track the desired point and maintain good control of the motor. All controllers have been compared using computational time and integral measures. The proposed controller has been tested under the effect of an external disturbance in real time and on a MATLAB Simulink. The FSMC controller's performance has given better results in speed response and integral measures.