Mohammad Veysi - Department of Electrical Engineering, Shahid Sattari Aeronautical University of Science and Technology, Tehran, Iran

In this paper, after the introduction of the voltage-based dynamic equations of robot manipulator, a fuzzy sliding mode controller has been designed for controlling the robot manipulator position. In the proposed control, feedback linearization method, sliding mode control and first-order takagi-sugeno-kang fuzzy systemare utilized. In this method, the bounds of structural and non-structural uncertainties are reduced by using feedback linearization method, and to overcome the remaining uncertainties, sliding mode control is employed. Mathematical proof shows that the closed loop system with the proposed control has global asymptotic stability. The presence of sliding mode control gives rise to the adverse phenomenon of chattering in the robotmanipulator position tracking. Subsequently, to prevent the occurrence of chattering in control input, a firstordertakagi-sugeno-kang fuzzy approximator is utilized. To compare the performance of the proposed controller with a torque-based controller, a two-link elbow robot manipulator is used as a case study. The simulation results demonstrate the desirable performance of the voltage-based fuzzy sliding mode controller

Fuzzy sliding mode control, Voltage control, Feedback linearization, Robot manipulator