Artificial Chattering Free on-line Fuzzy Sliding Mode Algorithm for Uncertain System: Applied in Robot Manipulator

In this research, an artificial chattering free adaptive fuzzy sliding mode control design and application touncertain robotic manipulator has proposed in order to design high performance nonlinear controller in thepresence of uncertainties. Regarding to the positive points in sliding mode controller, fuzzy logic controllerand adaptive method, the output has improved. Each method by adding to the previous controller hascovered negative points. The main target in this research is design of model free estimator on-line slidingmode fuzzy algorithm for robot manipulator to reach an acceptable performance. Robot manipulators arehighly nonlinear, and a number of parameters are uncertain, therefore design model free controller usingboth analytical and empirical paradigms are the main goal. Although classical sliding mode methodologyhas acceptable performance with known dynamic parameters such as stability and robustness but thereare two important disadvantages as below: chattering phenomenon and mathematical nonlinear dynamicequivalent controller part. To solve the chattering fuzzy logic inference applied instead of dead zonefunction. To solve the equivalent problems in classical sliding mode controller this paper focuses onapplied fuzzy logic method in classical controller. This algorithm works very well in certain environment butin uncertain or various dynamic parameters, it has slight chattering phenomenon. The system performancein sliding mode controller and fuzzy sliding mode controller are sensitive to the sliding function. Therefore,compute the optimum value of sliding function for a system is the next challenge. This problem has solvedby adjusting sliding function of the adaptive method continuously in real-time. In this way, the overallsystem performance has improved with respect to the classical sliding mode controller. This controllersolved chattering phenomenon as well as mathematical nonlinear equivalent part by applied fuzzysupervisory method in sliding mode fuzzy controller and tuning the sliding function.