FUZZY LOGIC-BASED CHATTERING REDUCTION IN SLIDING MODE CONTROL OF SINGLE-LINK ROBOT USING MUSCLE-LIKE ACTUATOR

This paper introduces the concept of fuzzy logic to reduce the chattering effect accompanied by Sliding Mode Control (SMC) in control of single-link robot using muscle-like actuator. In sliding mode control design, the main source of chattering comes from the use of Signum function in the switching part of control signal. This inherited behavior of chattering would degrade the performance of the control systems and may lead to unwanted physical phenomena. To elevate the effect of chattering, many works replaced the discontinuous Signum functions by other different smooth functions. In the present work, Fuzzy Logic (FL) method has been designed and applied in SMC scheme for controlling single-link manipulator actuated by Pneumatic Artificial Muscles (PAMs). The effectiveness of the proposed technique is verified and compared to other switching techniques in terms of performance and chattering reduction via computer simulation. The numerical simulation showed that the chattering has been considerably reduced based on FL-based SMC as compared to Signum-based SMC.