Design dual-fuzzy adaptive controller for industrial robotic manipulators

Abstract

In this study, a combination of multi-input fuzzy control, single-input fuzzy control, sliding mode control, and backstepping control is introduced to the industrial robot manipulator (IRM). Simulation results show the high performance of this control method when compared to a double-fuzzy backstepping sliding mode controller (DFBSMC) and Fuzzy Backstepping Sliding Mode Controller (FBSMC). Moreover, the effectiveness of the controller is also demonstrated through simulation and experiment results when comparing the proposed controller with FBSMC and DFBSMC. The simulation results show that the convergence speed, braking ability, grip error, stability, fast response, and overshoot of the proposed controller DFBSMC are better than the FBSMC controller. Thereby concluding, the suggested control is in accordance with an adaptive-robust-fuzzy double controller and can be used as a supplement and replace of traditional backstepping control.