Dual Fuzzy Sliding Mode Control of Manipulator Based on Rotor UAV Platform

Abstract

In order to achieve the purpose that the robotic arm based on the rotor platform can still track the position and attitude of the end of the robotic arm stably when subjected to external disturbances and internal disturbances, this paper first designs a sliding mode control algorithm to enhance the anti-interference ability of the control system. In this method, the phenomenon of control law chattering occurs due to the problem of a large upper bound of interference. Therefore, the fuzzy sliding mode control method is designed on the basis of the above algorithm, and the coefficient of the switching gain term in the exponential reaching law sliding mode control algorithm is adaptively adjusted by the fuzzy control, thereby weakening the chattering of the control law. Fuzzy sliding mode control obviously improves chattering, but it does not solve the problem that the overall adjustment time of the control system is too long, and the performance of the control system in the control index of "rapidity" is not very good. Then a double fuzzy sliding mode control algorithm is designed, and the stability of the control system is proved by using the Lyapunov stability criterion. And through the simulation, it is known that this method not only retains the robustness of the sliding mode control algorithm, but also effectively weakens the chattering of the sliding mode control algorithm and the problem of long adjustment time, and improves the trajectory tracking of the end of the mechanical arm of the rotor platform precision.