Neuro-fuzzy Sliding Mode Control for a Two Link Flexible Robot

Khedoudja Kherraz, Mustapha Hamerlain, Nouara Achour

2012

Abstract

In most robotic applications, trajectory tracking control and vibration suppression in flexible link manipulator is a recurring problem, due to the unknown nonlinearities and strong coupling often caused by the presence of flexibility in the links. In order to solve this problem, a new sliding mode controller using neural networks and fuzzy logic is presented in this paper. The stability of the proposed controller is proved with the Lyapunov function method. The neural network is used to compensate the highly nonlinear system uncertainties. The fuzzy logic is used to eliminate the chattering effect caused by the robust conventional sliding mode control. The effectiveness of this control system will be compared to the performance obtained with a second order sliding mode control which is the super twisting algorithm. Comparative simulations show the superiority of the proposed controller regarding the second order sliding mode controller and confirm its robustness with bounded disturbance and its ability to suppress the flexible link manipulator vibrations.

Paper Citation

in Harvard Style

Kherraz K., Hamerlain M. and Achour N. (2012). Neuro-fuzzy Sliding Mode Control for a Two Link Flexible Robot . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-21-1, pages 189-195. DOI: 10.5220/0004032001890195

in Bibtex Style

@conference{icinco12,
author={Khedoudja Kherraz and Mustapha Hamerlain and Nouara Achour},
title={Neuro-fuzzy Sliding Mode Control for a Two Link Flexible Robot},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2012},
pages={189-195},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004032001890195},
isbn={978-989-8565-21-1},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Neuro-fuzzy Sliding Mode Control for a Two Link Flexible Robot
SN - 978-989-8565-21-1
AU - Kherraz K.
AU - Hamerlain M.
AU - Achour N.
PY - 2012
SP - 189
EP - 195
DO - 10.5220/0004032001890195