Fuzzy Adaptive Nonsingular Terminal Sliding Mode Control for a Three-Links Spatial Robot

Abstract:

To achieve high performance tracing control of the three-links spatial robot, a nonsingular terminal fuzzy sliding mode control method is proposed in this paper. Firstly, the control method can efficiently avoid the singularity of the generally terminal sliding mode controller through designing nonsingular terminal sliding mode surface. Secondly, to diminish the chattering in the control input, a fuzzy controller is designed to adjust the gain of nonsingular terminal sliding mode controller according to the normal of nonsingular terminal sliding mode surface. The stability of the control scheme is verified by using Lyapunov theory. The proposed controller is then applied to the control of a three-links spatial robot. Simulation results show the validity of the proposed control scheme.

• Periodical: Advanced Materials Research (Volumes 655-657)
• Pages: 1048-1052
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.655-657.1048
• Online since: January 2013
• Authors: Sheng Bin Hu, Wen Hua Lu, Xing Yuan Zhang, Hai Rong Xu, Da Min Cao
• Keywords: Fuzzy Control, Lyapunov Method, Sliding Mode Control, Terminal Sliding Mode

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