Discrete Adaptive Fuzzy Non-singular Terminal Sliding Mode Control ForRobot Manipulator

In this paper, a novel discrete adaptive fuzzy non-singular terminal sliding mode control forrobot manipulator using voltage control strategy is presented. Robot manipulators are nonlinearmultivariable systems with high couplings and various uncertainties. Several methods havealready been proposed for controlling adaptive fuzzy robot manipulators but they face manychallenges because of robot dynamic complexity. In this thesis, fuzzy non-singular terminalsliding mode control with adaptive control is used. The advantage of this method is thatadaptive fuzzy control systems are designed on the basis of guaranteeing stability. Because inpractical implementation the control law is carried out using digital processors, in this thesis,the simulation is performed in discrete-time mode. Also designing adaptive fuzzy discrete-timecontroller is performed by voltage control strategies. The proposed method doesn’t require asystem model and reduces the chattering and lead to converge the system tracking error to zeroin limit time. Also this control method is robust against external disturbance. Simulation studiesare performed on a SCARA robot. Stability analysis and simulation results show the effects ofthis method.

Keywords:

Adaptive fuzzy control , Non-singular terminal sliding mode , Discrete-timecontrol , Robot manipulator , voltage control strategy