Fuzzy moving fast terminal sliding mode control for robotic manipulators

Abstract

This paper presents a new form of nonsingular terminal sliding mode control with fuzzy tuning approach for tracking-performance enhancement in a class of nonlinear systems with uncertainties and external disturbance. The robustness of the controller is established using the Lyapunov stability theory. The main contribution of the proposed method is that the terminal sliding surface can rotate and bend in the phase space so that the tracking performance can be enhanced, and chattering can also be reduced by employing fuzzy tuning of the controller parameters. Theoretical analysis and simulation results demonstrate the efficacy and superiority of the proposed approach in the sense of tracking-performance enhancement comparing with conventional terminal sliding mode control.

Nonsingular Terminal Sliding Mode Control of Uncertain Second-Order Nonlinear Systems

“…Comparing with linear sliding mode, NTSM has higher convergence rate when the system state is far away from the equilibrium point, while NTSM has lower convergence speed when the system state is close to the equilibrium point [29,30].…”

Moving sliding mode controller for overhead cranes suffering from matched and unmatched disturbances

“…This method can shorten the distance between the system state error and sliding mode surface, and finally shorten the time of the reaching phase. Specially, in Baklouti et al (2015), Shi et al (2012) and Yakut (2014), the sliding mode surface slope is adjusted based on neural network and fuzzy logic theory, and the convergence time of the state error variables is shortened greatly. However, crane model parameters must be known exactly in advance when fuzzy logic technology is adopted to update the slope values.…”