MODELING AND TRAJECTORY TRACKING CONTROL OF 3-DOF INDUSTRIAL ROBOTIC MANIPILATOR USING SELF-TUNING FUZZY SLIDING MODE CONTROLLER (ST-FSMC)

Robotic manipulators are highly coupled, multi-input multi-output (MIMO), nonlinear
systems with uncertainties and highly time-varying dynamic system; this makes
the trajectory tracking control of Robotic manipulator system more challenging and
needs a robust control system. This thesis aims at the trajectory tracking control
of a 3-DOF robotic manipulator using self-tuning {FSMC (ST-FSMC). The conventional
controllers (PID, SMC, and FSMC) is designed for the comparison purpose
with ST-FSMC. Euler { Lagrange approach has been applied to drive the complete
nonlinear dynamic model of a 3-DOF robotic manipulator, the stability of the system
has been investigated by using the Lyapunov direct method, the controller has been
implemented using MATLAB/Simulink and performance analysis has been done.
The simulation results show that the proposed controller (ST-FSMC) has removed
chattering phenomena from the input voltage, minimized the magnitude of controller
eort, and has reduced the tracking error (average Steady-State error is 0.0036 rad).
However, in the case of conventional controller the average Steady-State error is
increased to 0.0413 rad, 0.00443 rad, and 0.0053 rad for PID, SMC, and FSMC,
respectively. Generally from the simulation results, it proved that the performance
response of the designed control system (ST-FSMC) has a superior trajectory tracking
performance, robust and is insensitive to applied model parameter variations as
compared to other conventional controllers