Sliding Mode Control for Manipulator Based on Fuzzy Switching Gain Adjustment

摘要

According to the basic structure of the transfer manipulator, the manipulator dynamics model considering friction is established. Aiming at the transfer manipulator's position control problems of the varying system parameters and the varying load range, a sliding mode control algorithm based on fuzzy switching gain adjustment is proposed with Lyapunov stability theory. The control strategy can improve the control effect, increase the robustness of the system and realize adaptive adjustment of the parameters online. Comparing the co-simulation results of fuzzy sliding mode control algorithm, fuzzy PID and PID by the Adams and MATLAB/SIMULINK, the fuzzy sliding mode control algorithm can not only approximate the ideal control law of the manipulator system model, but also has better control precision and robustness.