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Sliding mode control and fuzzy tuning techniques are combined to generate a robust and an accurate fuzzy sliding controller for non-linear systems. The control law consisting of equivalent control, robust control, and fuzzy control is designed such that the equivalent control satisfies desirable dynamics. Reaching the sliding surface is guaranteed by the robust control term even in the presence of...
Shape memory alloy (SMA) composites offer a great potential as actuators because of its excellent power to weight ratio, smooth motion and silent actuation. However, SMA actuated robotic manipulator systems have severe hysteresis, system nonlinearities, model and parametric uncertainties those are often responsible for position inaccuracy in a regulation or tracking system. A simple and upstanding...
In this paper, a new and simple method to design a robust controller for a robotic system is proposed. The presented work expands on previous research into the uses of robust control design methodology. Specifically, we combined quantitative feedback theory (QFT) with the fuzzy logic controller (FLC). This combination takes advantage of both methodologies. The hybrid controller could be utilized to...
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