earticle

영어

In this research, intelligent sliding mode controls are presented as robust controls for robot manipulators. The objective of the study is to design controls for robot manipulators without the knowledge of the boundary of the uncertainties by using an intelligent sliding mode control (SMC) while elucidating the robustness of the fuzzy SMC. A sliding mode control provides for unlimited accuracy in presence of bounded disturbance, although the sliding mode controller also causes chattering. Chattering is undesirable for use with actual component, since it might causes damage to them with a subsequent loss of accuracy. Such chatter is caused by overestimation of the controller gain. An intelligent sliding mode is proposed as a solution to the problems created by chattering; to illustrate, a continuum robot manipulator is simulated with an intelligent sliding mode control. The performance of intelligent gain sliding mode controller is demonstrated through the simulation results. The results of the simulations show the effectiveness for chattering mitigation by means of avoiding overestimation, and the robustness of an intelligent sliding mode control.