Fuzzy Sliding Mode Control based on Takagi & Sugeno Model Design and its application to a Simulated Robot Hand

Abstract

Sliding mode control design with fuzzy parameter adaptation for a simulated robot hand is presented. The fuzzy adaptation uses the Takagi & Sugeno model in order to determinate the parameter values which assure system stability. Using this control strategy, the simulated robot hand will be moved without oscillations, in a similar way as human hand. The proposed control method is stable, good behavior to external disturbances, and does not request to know the system parameters (robot hand parameters) exactly. Also, the paper describes the dynamic of the realistic simulator of the simulated robot hand (5 fingers, 15 degrees of freedom)