An Adaptive Fuzzy Sliding Mode Control Scheme for Robotic Systems | Zendy

Abdel Badie Sharkawy | Zendy; Shaaban Ali Salman | Zendy

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An Adaptive Fuzzy Sliding Mode Control Scheme for Robotic Systems

Author(s) -

Abdel Badie Sharkawy,

Shaaban Ali Salman

Publication year - 2011

Publication title -

intelligent control and automation

Language(s) - English

Resource type - Journals

eISSN - 2153-0661

pISSN - 2153-0653

DOI - 10.4236/ica.2011.24035

Subject(s) - control theory (sociology) , fuzzy logic , sliding mode control , scheme (mathematics) , fuzzy control system , control engineering , controller (irrigation) , nonlinear system , engineering , control system , adaptive control , computer science , control (management) , artificial intelligence , mathematics , mathematical analysis , agronomy , physics , electrical engineering , quantum mechanics , biology

In this article, an adaptive fuzzy sliding mode control (AFSMC) scheme is derived for robotic systems. In the AFSMC design, the sliding mode control (SMC) concept is combined with fuzzy control strategy to obtain a model-free fuzzy sliding mode control. The equivalent controller has been substituted for by a fuzzy system and the uncertainties are estimated on-line. The approach of the AFSMC has the learning ability to generate the fuzzy control actions and adaptively compensates for the uncertainties. Despite the high nonlinearity and coupling effects, the control input of the proposed control algorithm has been decoupled leading to a simplified control mechanism for robotic systems. Simulations have been carried out on a two link planar robot. Results show the effectiveness of the proposed control system

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