Adaptive Fuzzy Sliding Mode Controller for Robot Manipulator: Effect on External Interferences
Sunil C.Kalshetti1, S .K. Dixit2
1Department of Electronics Engineering, Walchand Institute of Technology, Solapur (Maharashtra), India.
2Department of Electronics Engineering, Walchand Institute of Technology, Solapur (Maharashtra), India.
Manuscript received on October 15, 2019. | Revised Manuscript received on 24 October, 2019. | Manuscript published on November 10, 2019. | PP: 5024-5031 | Volume-9 Issue-1, November 2019. | Retrieval Number: A5190119119/2019©BEIESP | DOI: 10.35940/ijitee.A5190.119119
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: In the previous decades, the SMC approach has attained unique consideration as this technique offers a systematic model to maintain robust performance and asymptotic stability. As robotic manipulators turn out to be gradually more significant in industrial automation, robotic manipulators by means of SMC have raised as a significant region of research. Hence, this paper intends to model and establish an adaptive sliding mode controller (SMC) for robotic manipulator. As it is not feasible to match up the SMC functions with the system model each time, this paper implements a Fuzzy Inference System (FIS) to replace the system model. It effectively achieves the experimentation in two phases. Accordingly, in the first phase, it attains the accurate features of the system model based on varied samples to characterize the robotic manipulator. Consequently, it derives the obtained features as fuzzy rules. In the subsequent phase, it signifies the derived fuzzy rules depending on adaptive fuzzy membership functions. Moreover, it establishes the self-adaptiveness using Grey Wolf Optimization (GWO) to attain the adaptive fuzzy membership functions. The analysis distinguishes the efficiency of the adopted technique with the optimal investigational scheme and the traditional schemes such as SMC, Fuzzy SMC (FSMC) and GWO-SMC. Moreover, the comparative analysis is also performed by including the external disturbances and noise and validates the effectiveness of the proposed and conventional models.
Keywords: Sliding Mode Control, Robot Manipulators, Controller, Load Variation, External Disturbances
Scope of the Article: Fuzzy Logics