Fuzzy Moving Sliding Model Control for Robotic Manipulators

로봇 매니퓰레이터를 위한 퍼지 이동슬라이딩 모드 제어

  • Chun, Kyung-Han (Dept.of Electronics Engineering, Kyungpook National University) ;
  • Park, Bong-Yeol (School of Electronic & Electrical Engineering, Kyungpook National University)
  • 전경한 (경북대학교 전자공학과) ;
  • 최봉일 (경북대학교 전자전기공학부)
  • Published : 2001.07.01


Recently, the study of the moving sliding mode in the variable structure control is in progress ac-tively. The conventional time-invariant sliding model control can\`t guarantee the sliding mode in the reaching phase, which is robust against the uncertainty. But with the time-varying method, the controller makes the states track the desired trajectories and keeps the sliding mode. Nevertheless, the piecewise continuous method of the past still has the reaching mode. Thus we propose the continuously moving sliding surface by the fuzzy algorithm. The proposed algorithm is made of the fuzzy rule considering both the error and the error velocity, and may apply to the entire phase plane without sacrificing sliding mode. Especially the proposed scheme can rotate tot he slope-decreasing direction, needless to say rotating to the slope-increasing direction. For showing that the proposed controller guarantees the sliding model and ensures the robustness, we apply the proposed method to the two-link robot manipulator simulation.


  1. C. M. Dorling and A. S. I. Zinober, 'Two approaches to hyperplane design in multi variable structure control systems,' Int. J. of Control, vol. 44, pp. 65-82, 1986 https://doi.org/10.1080/00207178608933583
  2. J. J. Lee and Y. Xu, 'A new method of switching surface design for multi variable structure systems,' IEEE Trans. on Automat. Contr., vol. 39, pp 414-419, 1994 https://doi.org/10.1109/9.272347
  3. J. J. Slotine and S. S. Sastry, 'Tracking control of non-linear systems using sliding surfaces with application to robot manipulators,' Int. J. of Control vol. 35, pp. 1345-1350, 1983 https://doi.org/10.1080/00207178308933088
  4. S. B. Choi, D. W. Park, and S. Jayasuriya, 'A time-varying sliding surface for fast tracking control of second-order uncertain systems,' Automatica, vol. 30, pp. 899-904, 1994 https://doi.org/10.1016/0005-1098(94)90180-5
  5. A. Bartoszewicz, 'A comment on 'A time-varying sliding surfaces for fast and robust tracking control of second-order uncertain systems',' Automatica, vol. 31, no. 12, pp. 1893-1895, 1995 https://doi.org/10.1016/0005-1098(95)00122-1
  6. Q. P. Ha, D. C. Rye, and H. F. Durrant-Whyte, 'Fuzzy moving sliding mode control with application to robotic manipulators,' Automatica, vol. 34, pp, 607-616, 1999 https://doi.org/10.1016/S0005-1098(98)00169-1
  7. J. J. Slotine and W. Li, Applied nonlinear control, Englewood Cliffs. NJ: Preantice-Hall, 1991