Author/Authors :
shaghaji, khashayar rezai islamic azad university, tehran science and research branch - department of electrical engineering and electronics, Tehran, Iran , sahab, alireza islamic azad university, lahijan branch - department of electrical engineering, Lahijan, Iran , ghadimi, abbas islamic azad university, lahijan branch - department of electrical engineering, Lahijan, Iran , rashid bivarzani, reza islamic azad university, west tehran branch - department of electrical engineering and electronics, Tehran, Iran
Abstract :
A robot manipulator is a multi-input multi-output (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.
Keywords :
Sliding Mode Fuzzy Control , Robot Manipulator , Torque Control Strategy , Lyapunov Theory , Stability
