Sliding mode control based on fuzzy switching gain for the robot arm

摘要

To solve the manipulator trajectory tracking problems with external disturbance and uncertainties, a global sliding mode control method based on fuzzy switching gain is proposed. First, the mechanical-arm control is divided into a nominal part and a non-nominal part, to which the computed torque controller and sliding controller are applied, respectively. Secondly, the fuzzy switching gain method is used to compensate the model error and external disturbance in the sliding mode controller, and the global slide function is used to guarantee the global stability of the system. Finally, we provide a detailed control algorithm in this paper; the simulation results show that the proposed control method significantly improves the response speed and control accuracy of the system.