Sliding Mode Fuzzy Control of Robot Manipulator using Torque Control Strategy

A robot manipulator is a multi-input multioutput (MIMO) system with nonlinearities and coupling effects which makes the control design challenge, consequently providing a proper control law is important. According to this problems and presence of uncertainty, use of sliding mode controller is very common for this system. The most important problem in use of this controller is chattering phenomena. The aim of this study is to reduce this phenomenon by offering a new control law based on sliding mode control. In this manner, part of system dynamic will be estimated by the adaptive fuzzy algorithm. The stability of close loop system will be guaranteed by Lyapunov theory. MATLAB/SIMULINK has been used to simulate three-link manipulator and this controller. Simulation results show the effectiveness of proposed controller.