On Fuzzy Sliding Control for a Robot Manipulator

Abstract:

A fuzzy sliding control for the motion of the robot manipulator is proposed. The quasi-sliding mode control (QSMC) was added to the fuzzy control. Therefore the system inputs and fuzzy rules can be reduced in fuzzy sliding control. Then the system will be a Single Input Single Output (SISO) system and it has only five fuzzy rules. This makes design process much more simple. The simulation results show that by employing proposed controller to the position control of a three-axis robot manipulator, the overshoot was drastically reduced. Also fast rising time and a small extent of steady-state error can be obtained.

• Periodical: Advanced Materials Research (Volumes 834-836)
• Pages: 1251-1255
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.834-836.1251
• Online since: October 2013
• Authors: Pu Hua Tang, Yu Yong Lei
• Keywords: Fuzzy Control, Robot Manipulator, Sliding Mode Control

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