Intelligent fuzzy sliding mode control for complex robot system with disturbances

It is a challenge work to control the complex robot system with disturbances. To solve this problem, an intelligent fuzzy sliding mode control method is proposed in this paper. Firstly, the dynamics model of the complex robot system is presented under disturbances. Then, based on the combination of sliding mode control and fuzzy logic control, the double fuzzy sliding mode controller is designed. In addition, due to the complexity of the dynamics model, it is very difficult or even impossible to obtain the exact dynamics model in practical application, therefore, a deep learning algorithm is developed, which can approximate the dynamics model as close as possible. And the stability of the proposed control method is analyzed by theory. Finally, the proposed intelligent fuzzy sliding mode control method is successfully applied to a KUKA robot system, which is compared with the existing control methods, and its superiority is demonstrated. (C) 2019 European Control Association. Published by Elsevier Ltd. All rights reserved.