Sliding Mode Control of Robot Manipulators via Intelligent Approaches

by S. Ehsan Shafiei

A paper that addresses the sliding mode control (SMC) of n-link robot manipulators by using of intelligent methods including fuzzy logic and neural network strategies. Three control strategies were used. In the first was the design of a sliding mode control with a PID loop for robot manipulator which the gain of both SMC and PID was tuned on-line by using fuzzy approach. The proposed methodology use the advantages of the SMC, PID and Fuzzy controllers simultaneously, i. e., the robustness...