Design a robust self-tuning fuzzy sliding mode control for second order systems

摘要

Robotic systems as second-order systems are essential part in the industry world. Controls of These systems are critical outstanding to a wide range of their application. Robustness and stability are two important demands in any control system. Control of Robot manipulators is challenged because they are multi-input multi-output (MIMO), nonlinear, time variant and have uncertainty. Furthermore, the robot manipulators used in unknown and unstructured situation, so they provide sophisticated systems. Therefore, it is a challenge to design an adaptive nonlinear robust controller, with has had suitable performance (e.g., minimum error, good trajectory, disturbance rejection). Non-classical Control methods used the artificial intelligence theory (e.g., fuzzy logic, neural network, and neuro fuzzy) to reduce the limitation of these types of systems. In This paper by using fuzzy rules and a non-classic method, an adaptive fuzzy sliding mode controller will be presented.