International Journal of

ADVANCED AND APPLIED SCIENCES

EISSN: 2313-3724, Print ISSN: 2313-626X

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 Volume 10, Issue 10 (October 2023), Pages: 166-173

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 Original Research Paper

Fuzzy nonsingular fast terminal sliding mode controller for a robotic system

 Author(s): 

 Lafi Alnufaie *

 Affiliation(s):

 Department of Electrical Engineering, Engineering College, Shaqra University, Shaqra, Saudi Arabia

 Full text

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 * Corresponding Author. 

  Corresponding author's ORCID profile: https://orcid.org/0000-0003-2453-2637

 Digital Object Identifier (DOI)

 https://doi.org/10.21833/ijaas.2023.10.019

 Abstract

This study introduces an innovative control strategy utilizing a nonsingular fast sliding mode technique tailored for robotic systems. The core of this approach lies in the development of a type-2 fuzzy logic-based nominal model, meticulously designed to accurately approximate the dynamics of the real system while adeptly handling the variability in system parameters. This method marks a departure from conventional approaches by inferring the switch signal for type-2 adaptive fuzzy systems, a critical step in achieving superior tracking performance without the necessity for extensive knowledge of the system's upper bounds in uncertainties and external disturbances. The efficacy of the proposed control law is rigorously validated through a series of simulations, encompassing a variety of initial conditions and reference signals, thereby demonstrating its robust performance capabilities.

 © 2023 The Authors. Published by IASE.

 This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).

 Keywords

 Robotic system control, Nonsingular fast sliding mode, Type-2 fuzzy logic, Adaptive fuzzy systems, Control system simulation

 Article history

 Received 25 May 2023, Received in revised form 16 September 2023, Accepted 6 October 2023

 Acknowledgment 

No Acknowledgment.

 Compliance with ethical standards

 Conflict of interest: The author(s) declared no potential conflicts of interest with respect to the research, authorship, and/or publication of this article.

 Citation:

 Alnufaie L (2023). Fuzzy nonsingular fast terminal sliding mode controller for a robotic system. International Journal of Advanced and Applied Sciences, 10(10): 166-173

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 Figures

 Fig. 1 Fig. 2 Fig. 3 Fig. 4 Fig. 5 Fig. 6 Fig. 7 

 Tables

 No Table

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