Design of fuzzy sliding mode controller with moving sliding surface for robot manipulator

Subject Areas : journal of Artificial Intelligence in Electrical Engineering

saman  ebrahimi boukani ¹ (Department of Electrical Engineering, Islamic Azad University, mahabad, Iran)

Received: 2022-06-10 Accepted : 2022-08-20 Published : 2022-09-01

Keywords: fuzzy control, Sliding-mode control, chattering phenomenon, moving sliding surface,

Abstract :

In sliding mode control, the sliding movement can be divided into two phases: reaching phase and sliding phase. In each phase, we face a series of problems. In the sliding phase, switching leads to the occurrence of undesirable chattering phenomenon, so that such high frequency oscillations stimulate the unmodeled dynamics of the system and may cause damage to the controlled device. In this paper, a fuzzy-sliding model controller (FSMC) is presented to solve this problem. On the other hand, during the reaching phase, SMC is sensitive to parameter uncertainty and external disturbance. In the continuation of the paper, a sliding mode fuzzy controller (SMFC) with a moving sliding surface to minimize or even eliminate the reaching phase is introduced.