Farzin Piltan, Alireza Salehi, Amin Jalali, Alireza Zare, Marzie Zare,

Keywords: Uncertain nonlinear systems, classical control, non-classical control, fuzzy logic, robot manipulator, sliding mode controller with artificial tuneable gain and chattering phenomenon.

Abstract: One of the most active research areas in the field of robotics is robot manipulators control, because these systems are multi-input multi-output (MIMO), nonlinear, and uncertainty. At present, robot manipulators are used in unknown and unstructured situation and caused to provide complicated systems, consequently strong mathematical tools are used in new control methodologies to design nonlinear robust controller with satisfactory performance (e.g., minimum error, good trajectory, disturbance rejection). Robotic systems controlling is vital due to the wide range of application. Obviously stability and robustness are the most minimum requirements in control systems; even though the proof of stability and robustness is more important especially in the case of nonlinear systems. The strategies of robotic manipulators control are classified into two main groups: classical and non-classical methods, where the conventional control theory uses the classical method and the artificial intelligence theory (e.g., fuzzy logic, neural network, and neuro fuzzy) uses the non-classical methods. However both of classical and non-classical theories have applied successfully in many applications, but they also have some limitations. One of the best nonlinear robust controllers which can be used in uncertainty nonlinear systems is sliding mode controller (SMC). Sliding mode controller has two most important challenges: chattering phenomenon and nonlinear dynamic equivalent part. This paper is focused on the applied nonclassical method (e.g., Fuzzy Logic) in robust classical method (e.g., Sliding Mode Controller) in the presence of uncertainties and external disturbance to reduce the limitations. Applying the Mamdani’s error based fuzzy logic controller with 7 rules is the main goal that causes the elimination chattering phenomenon with regard to the variety of uncertainty and external disturbance; as a result this paper focuses on the sliding mode controller with artificial tuneable gain (SMCAT) to adjusting the sliding surface slope coefficient depends on applying fuzzy method.

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