Fuzzy TSMCSPO for Trajectory Tracking of Nuclear Reactor Dismantlement Robot Manipulator

In this study, a fuzzy logic system to tune the parameters of terminal sliding mode control with perturbation observer (TSMCSPO) in real-time is proposed according system’s state changes improve performance TSMCSPO for 5-DOF robot manipulator used nuclear reactor dismantlement. Accurate trajectory tracking required when using multi-DOF cut decommissioned reactor. A scheme TSMC SPO has been previous research, which improves estimation and convergence traditional SMCSPO. TSMCSPO, controller are important enhance performance. Moreover, due influence working environment uncertainty system, characteristics will be changed during multi-degree-of-freedom manipulator. Therefore, optimal parameter tuning required. regard, an effective method. By designing rules, can optimized. algorithm and, simulation vessel internal (RVI) implemented MATLAB/Simulink environment. The verified by experiments on real platform. outstanding demonstrated comparing error between fixed parameters.