Application of sliding mode fuzzy 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 was designed with a sliding mode fuzzy control algorithm, which made 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 advantages compared with the traditional PID algorithm, and it has strong robust too.