Fast Terminal Fuzzy Sliding Mode Control for a Three-Links Spatial Robot

To achieve high performance tracing control of the three-links spatial robot, a fast terminal fuzzy sliding mode control method is proposed in this paper. Firstly, the control method can efficiently solve the singularity of the controller through switching between terminal sliding mode surface and linear sliding mode surface. Secondly, to diminish the chattering in the control input, a fuzzy controller is designed to adjust the generalized gain of fast terminal fuzzy sliding mode controller according to fast terminal sliding mode surface. The stability of the control algorithm is verified by using Lyapunov theory. The proposed controller is then applied to the control of a three-links spatial robot. Simulation results show the validity of the proposed control scheme.