Robust control of a spatial robot using fuzzy sliding modes


Yagiz N. , Hacioglu Y.

MATHEMATICAL AND COMPUTER MODELLING, vol.49, pp.114-127, 2009 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 49
  • Publication Date: 2009
  • Doi Number: 10.1016/j.mcm.2008.05.050
  • Title of Journal : MATHEMATICAL AND COMPUTER MODELLING
  • Page Numbers: pp.114-127

Abstract

In order to improve the performance of the sliding mode controller, fuzzy logic sliding mode controller is proposed in this study. The control gain of the conventional sliding mode controller is tuned by a fuzzy logic rule base and, also dynamic sliding surfaces are obtained by changing their slopes using the error states of the system in another fuzzy logic algorithm. These controllers are then combined in order to enhance the performance. Afterwards, proposed controllers were used in trajectory control of a three degrees of freedom spatial robot, which is subjected to noise and parameter variations. Finally, the controllers introduced are compared with a PID controller which is commonly used for control of robotic manipulators in industry. The results indicate the superior performance of the proposed controller. (C) 2008 Elsevier Ltd. All rights reserved.