Application of fuzzy sliding-mode control in robot

The system of Pb-211 robot waist is a nonlinear hydraulic servo control system. It is very difficult to achieve speedy response without overshoot by the PID control algorithm for the system control. To improve the performance of the system, a new controller is designed with a fuzzy sliding-mode control algorithm, which makes use of the merits both the fuzzy control and the sliding-mode control algorithm. The simulation results show that the new controller is effective, which can achieve high speediness and steady accuracy without overshoot. The fuzzy sliding-mode control has obvious advantage compared the traditional PID algorithm, and it has strong robust too.