Title: Fuzzy sliding mode control for the two-link robot

Authors: Rachid Naoual; El Mehdi Mellouli; Selma Sefriti; Ismail Boumhidi

Addresses: Department of Physics, LESSI Laboratory, Faculty of Sciences Dhar El Mehraz, University Sidi Mohamed Ben Abdellah, B.P. 1796, 30000 FES-Atlas, Morocco ' Department of Physics, LESSI Laboratory, Faculty of Sciences Dhar El Mehraz, University Sidi Mohamed Ben Abdellah, B.P. 1796, 30000 FES-Atlas, Morocco ' Department of Physics, LESSI Laboratory, Faculty of Sciences Dhar El Mehraz, University Sidi Mohamed Ben Abdellah, B.P. 1796, 30000 FES-Atlas, Morocco ' Department of Physics, LESSI Laboratory, Faculty of Sciences Dhar El Mehraz, University Sidi Mohamed Ben Abdellah, B.P. 1796, 30000 FES-Atlas, Morocco

Abstract: This paper presents the fuzzy logic combined with the sliding mode (FSMC) to design a robust controller for the two-link robot system. The sliding mode control (SMC) can be used for a nonlinear system with small uncertainties. However, for complex nonlinear systems, the uncertainties are large and produce higher amplitude of chattering due to the higher switching gain. In this work, the nominal model of the robot is assumed known and the fuzzy logic is used to approximate only the unknown dynamic parts of the system, which are incorporated in the so called equivalent control. A small gain robust control term is added to remove the fuzzy approximation error. The simulation results show the effectiveness of the proposed method.

Keywords: fuzzy logic; sliding mode control; fuzzy SMC; two-link robots; fuzzy control; robot control; robust control; controller design; robot dynamics; simulation.

DOI: 10.1504/IJSCC.2014.062808

International Journal of Systems, Control and Communications, 2014 Vol.6 No.1, pp.84 - 96

Received: 20 Nov 2013
Accepted: 16 Mar 2014

Published online: 26 Jul 2014 *

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