Electronics Engineering

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Adaptive Fuzzy Sliding Mode Controller of Three Link Robot Arm Manipulator
(Addis Ababa University, 2025-07) Addisie Gietie; Chala Merega
This thesis aims to design an adaptive fuzzy sliding mode controller (AFSMC) for robotic manipulators. Robotic manipulators are characterized by nonlinear, coupled dynamics with inherent uncertainties. To deal with uncertainties, the thesis designed a high-performance nonlinear controller for three-degree-of-freedom robot manipulator. The three-degree-of freedom robot manipulating arm’s trajectory tracking error has been controlled and elimi nated in this study using SMC with adaptive fuzzy supervisory. In order to adjust the sliding surface’s gain parameter and help it converge and stay at zero, the adaptive fuzzy logic super visory system and the direct method of the Lyapunov stability theorem were used to analyze the model robot manipulator’s stability. The development begins with the derivation of the manipulator kinematics and dynamics, followed by the design of the proposed controller.. MATLAB/ Simulink software was used to assess the current control method’s efficacy in a simulation environment. The study conducts a comprehensive performance comparison between AFSMC, FSMC and SMC. AFSMC demonstrates improvements in performance across various trajectory scenarios. Moreover, AFSMC demonstrates superior robustness in the presence of parametric uncertainty(payload variation) and disturbances compared to FSMC and SMC.