Shahrood University of Technology Journal of Solid and Fluid Mechanics 2251-9475 5 3 2015 09 23 Adaptive fuzzy sliding mode control of a robotic manipulator in task-space using voltage control strategy Adaptive fuzzy sliding mode control of a robotic manipulator in task-space using voltage control strategy 17 26 553 10.22044/jsfm.2015.553 FA Mohammad Mehdi Fateh Professor of Control Eng., Univ. of Shahrood, Shahrood, Iran H. Asrari S. Khorashadizadeh Journal Article 2014 04 26 Actuators of robot operate in the joint-space while the end-effector of robot is controlled in the task-space. Therefore, designing a control system for a robotic manipulator in the task-space requires the jacobian matrix for transforming joint-space to task-space. Using an imprecise Jacobian matrix and the presence of uncertainties degrade the control performance. Uncertainties include the parametric uncertainty, unmodelled dynamics and external disturbance. In this paper, a novel decentralized adaptive fuzzy sliding mode control approach in the task-space is presented using the voltage control strategy. The control design is simple, free from model and robust agains uncertainties. These advantages are because of using voltage control strategy instead of commonly used torque control strategy. The case study is an articulated robot manipulator driven by permanent magnet DC motors. The stability analysis, simulation results and comparison with a torque based control method are presented to verify the effectiveness of the control method. Simulation results show the effectiveness of proposed control method. Actuators of robot operate in the joint-space while the end-effector of robot is controlled in the task-space. Therefore, designing a control system for a robotic manipulator in the task-space requires the jacobian matrix for transforming joint-space to task-space. Using an imprecise Jacobian matrix and the presence of uncertainties degrade the control performance. Uncertainties include the parametric uncertainty, unmodelled dynamics and external disturbance. In this paper, a novel decentralized adaptive fuzzy sliding mode control approach in the task-space is presented using the voltage control strategy. The control design is simple, free from model and robust agains uncertainties. These advantages are because of using voltage control strategy instead of commonly used torque control strategy. The case study is an articulated robot manipulator driven by permanent magnet DC motors. The stability analysis, simulation results and comparison with a torque based control method are presented to verify the effectiveness of the control method. Simulation results show the effectiveness of proposed control method. https://jsfm.shahroodut.ac.ir/article_553_589253fd2bb1e5ccd0d3190478e74f57.pdf