Design Sliding Mode Controller with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator

摘要

Sliding mode controller (SMC) is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system.Th is controller is used to control of highly nonlinear systems especially for robot manipulators, because this controller is a robust and stable.Conversely, pure sliding mode controller is used in many applicat ions; it has two important drawbacks namely; chattering phenomenon, and nonlinear equivalent dynamic formulat ion in uncertain dynamic parameter.The nonlinear equivalent dynamic formu lation problem and chattering phenomenon in uncertain system can be solved by using artificial intelligence theorem.However fu zzy logic controller is used to control complicated nonlinear dynamic sys tems, but it cannot guarantee stability and robustness.In this research parallel fuzzy logic theory is used to compensate the system dynamic uncertainty.