Title: A decoupled fuzzy indirect adaptive sliding mode controller with application to robot manipulator

Authors: Hanene Medhaffar, Nabil Derbel, Tarak Damak

Addresses: Intelligent Control, Design and Optimization of Complex Systems (ICOS), Ecole Nationale des Ingenieurs de Sfax, B.P.W. 3038, Sfax, Tunisie, Tunisia. ' Intelligent Control, Design and Optimization of Complex Systems (ICOS), Ecole Nationale des Ingenieurs de Sfax, B.P.W. 3038, Sfax, Tunisie, Tunisia. ' Unite de Commande Automatique (UCA), Ecole Nationale des Ingenieurs de Sfax, B.P.W. 3038, Sfax, Tunisie, Tunisia

Abstract: This paper presents a decoupled adaptive fuzzy Sliding Mode Control (SMC) for robotic manipulators. This controller is proposed for a class of Multiple-Input Multiple-Output (MIMO) systems with unknown non-linear dynamics. Indeed, an online fuzzy adaptation scheme is suggested to approximate unknown non-linear functions to design SMC. Moreover, the proposed controller is replaced by a local decoupled controller for each arm. The stability of the proposed control scheme is proved. As an illustration, the trajectory control of a two-degrees-of-freedom robotic manipulator is considered.

Keywords: fuzzy logic; decoupled sliding mode control; indirect adaptive control; robot manipulators; robot control; trajectory control; fuzzy control.

DOI: 10.1504/IJMIC.2006.008644

International Journal of Modelling, Identification and Control, 2006 Vol.1 No.1, pp.23 - 29

Available online: 13 Jan 2006 *

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