Journal
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS
Volume 33, Issue 2, Pages 149-159Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMCA.2002.805804
Keywords
adaptive; fuzzy; robotic manipulator; sliding mode control
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This paper proposes an adaptive fuzzy sliding mode controller for robotic manipulators. An adaptive single-input single-output (SISO) fuzzy system is applied to calculate each element of the control gain vector in a sliding mode controller. The adaptive law is designed based on the Lyapunov method. Mathematical proof for the stability and the convergence of the system is presented. Various operation situations such as the set point control and the trajectory control are simulated. The simulation results demonstrate that the chattering and the steady state errors, which usually occur in the classical sliding mode control, are eliminated and satisfactory trajectory tracking is achieved.
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