Design Adaptive Fuzzy Inference Sliding Mode Algorithm: Applied to Robot Arm

摘要

The developed control methodology can be used to build more efficient intelligent and precision mechatronic systems. Three degrees of freedom robot arm is controlled by adaptive sliding mode fuzzy algorithm fuzzy sliding mode controller (SMFAFSMC). This plant has 3 revolute joints allowing the corresponding links to move horizontally. Control of robotic manipulator is very important in field of robotic, because robotic manipulators are Multi-Input Multi-Output (MIMO), nonlinear and most of dynamic parameters are uncertainty. Design strong mathematical tools used in new control methodologies to