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International Journal of Intelligent Systems and Applications(IJISA)

ISSN: 2074-904X (Print), ISSN: 2074-9058 (Online)

Published By: MECS Press

IJISA Vol.10, No.3, Mar. 2018

Control of an Uncertain Robot Manipulator Using an Observation-based Modified Fuzzy Sliding Mode Controller

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Author(s)

Shahnaz Tayebihaghighi, Farzin Piltan, Jong-Myon Kim

Index Terms

Sliding mode observer;fuzzy sliding mode controller;fuzzy logic theory;robot manipulator;observation technique;chattering phenomenon;robustness

Abstract

The main contribution of this paper is the design of a robust model reference fuzzy sliding mode observation technique to control multi-input, multi-output (MIMO) nonlinear uncertain dynamical robot manipulators. A fuzzy sliding mode controller was used in this study to control the robot manipulator in the presence of uncertainty and disturbance. To address the challenges of robustness, chattering phenomenon, and error convergence under uncertain conditions, the proposed sliding mode observer was applied to the fuzzy sliding mode controller. This theory was applied to a six-degrees-of-freedom (DOF) PUMA robot manipulator to verify the power of the proposed method.

Cite This Paper

Shahnaz Tayebihaghighi, Farzin Piltan, Jong-Myon Kim, "Control of an Uncertain Robot Manipulator Using an Observation-based Modified Fuzzy Sliding Mode Controller", International Journal of Intelligent Systems and Applications(IJISA), Vol.10, No.3, pp.41-49, 2018. DOI: 10.5815/ijisa.2018.03.05

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