Fuzzy Sliding Mode Control for Robot Based on Passivity Theory

A novel control strategy based on passivity theory was proposed with special attention to trajectory tracking and robust control of rigid robot. In this paper, robot model was divided into nominal model and uncertainty part. Based on the backstepping approach, feedback passivity was used to design controller for the nominal model. A variable structure concentrated compensation controller was adopted to the uncertainty part. Using fuzzy rules, a fuzzy system based on nominal model controller and sliding mode variable structure controller was built to eliminate chattering effectively. Simulation results show that the scheme can achieve tracking effect with high speed, as well as enhance the robustness of the system under the condition of existing model error and external disturbance, and the global stability can be also guaranteed.