AN ADAPTIVE FUZZY SLIDING MODE CONTROL SCHEME FOR ROBOTIC SYSTEMS | ||||
| JES. Journal of Engineering Sciences | ||||
| Article 10, Volume 40, No 1, January and February 2012, Page 173-189 PDF (251.87 K) | ||||
| Document Type: Research Paper | ||||
| DOI: 10.21608/jesaun.2012.112724 | ||||
 View on SCiNiTO | ||||
| Authors | ||||
Abdel Badie Sharkawy  1; Shaaban A. Salman2
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| 1Associate Professor, Mechanical Engineering Department, Faculty of Engineering, Assiut University, 71516, EGYPT | ||||
| 2Mechanical Engineering Department, Faculty of Engineering, Assiut University, 71516 Assiut, Egypt | ||||
| Abstract | ||||
| 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 The equivalent controller has been replaced by a fuzzy system and the uncertainties are estimated on-line.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. | ||||
| Keywords | ||||
| Sliding mode control (SMC); Adaptive fuzzy sliding mode control (AFSMC); Fuzzy logic control (FLC); Adaptive laws; Robotic control | ||||
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