TWO LINK MANIPULATOR CONTROL USING FUZZY SLIDING MODE APPROACH
In solving a number of complex manipulating problems, it is desirable to use the fuzzy logic which reproduces the human-operator’s experience. Controlling large space-based manipulators and ground handling systems used both in constructionand post-accident cleaning-up can be considered such problems. However, the control of these manipulation systems becomes complicated due to sophisticated and nonlinear structure dynamics, which cannot be fully described.That the control rules are independent from a mathematical model of an object is the advantage of using the fuzzy logic for solving these problems. Nevertheless, as the complexity of the object dynamics grows, the number of such rules increases significantly. In this context, a new approach has recently been developed. It is based on the sliding mode application, which in its turn is generated by a fuzzy controller. The study of this approach seems important for controlling the manipulator with a significant dynamic unit interaction. The paper describes an adaptive control method using a sliding mode based on the fuzzy approach. The method enables the system to withstand external disturbances. Its implementation does not require awareness of the system dynamic model