Supervisory adaptive fuzzy sliding mode control with optimal Jaya based fuzzy PID sliding surface for a planer cable robot

This paper discusses the design of supervisory adaptive fuzzy sliding mode control with the fuzzy PID sliding surface for a planar cable-driven parallel robot. An adaptive fuzzy system is used to generate the switching control signal to remove the chattering effect. Moreover, for better tracking and reducing the error, a supervisory fuzzy system is introduced for online tuning of the PID sliding surface gains. The Jaya optimization algorithm has been utilized for optimization of the membership function of the fuzzy sliding surface system. Due to the structural challenges associated with cable robots, the internal force concept is used to keep the cables in tension style. The stability proof of the closed-loop system is done in the sense of the Lyapunov theorem. Simulation results show the merits of the proposed controller and the reduced chattering and system robustness against parameter uncertainties, load disturbances and nonlinearities are confirmed.