Fuzzy sliding mode control based on the nominal model for manipulator

Most current variable structure control methods need complex calculation of manipulator sliding mode's control parameters. To solve this problem, we can divide the manipulator model into certain and uncertain two parts in this paper. The certain part is regared as a nominal model, we designs the state feedback controller to controll it. For uncertain part of the system, this paper uses variable structure control to control it, at the same time, in the system sliding mode surface will cause chattering, in order to eliminate this influence, this paper introduces the fuzzy control method. This paper regards the sliding mode surface as the input of fuzzy control, the weight of compensation controller as its output. The simulation results show that the design scheme can quickly achieve trajectory tracking and can eliminate the chattering of variable structure.