A New Robust Fuzzy Sliding Mode Control of Robot Manipulator in the Task Space in Presence of Uncertainties

This paper presents a new method to control of robot manipulator in task space. In the proposed control method, a combination of feedback linearization, sliding mode control and first-order TSK fuzzy system has been utilized. In this method, the bounds of structural and non-structural uncertainties by using feedback linearization method are reduced and to overcome the remaining uncertainties, sliding mode control is deployed. The presence of sliding mode control triggers the adverse phenomenon of chattering in controlling the robot manipulator in task space. Finally, to prevent the occurrence of chattering and to precise tracking of the desired trajectory in task space with minimal position tracking error, TSK fuzzy system is utilized in the control input. To examine the performance of the proposed control, a twodegree-of-freedom manipulator is used as a case study. The results of simulation demonstrated the favorable performance of the proposed method.