Adaptive Double Fuzzy Sliding Mode Control for Three-links Spatial Robot

摘要

In order to improve the performance of tracking controller of three-links spatial robot,a new adaptive double fuzzy sliding mode controller is proposed.The controller is divided into two parts: equivalent controller and corrective controller.A fuzzy controller is designed to estimate the magnitude of switching gain of corrective controller based on sliding mode reaching conditions.Another fuzzy controller is designed to adjust corrective controller based on sliding mode surface.These controllers are then combined in order to eliminate the chattering,and enhance the performance.Lyapunov theorem is used to prove the stability of control system.Finally,simulation experiment and comparative analysis are carried out.The results show that the proposed control scheme is effective.