Adaptive Fuzzy Sliding Mode Control for Multi-link Robots

To the trajectory traking control problem of multi-link robots,an adaptive fuzzy sliding mode controller is given based on global fast terminal sliding mode manifold.A proper law is designed to adaptively adjust the switching gain of sliding mode control by fuzzy control.The controller can automatically track the maximum limit of model errors and disturbances,and has little chattering.Prediction estimation for model errors and disturbances of the proposed control system is not needed.Dimension of the fuzzy controller is reduced by simplifying the whole controller.Moreover,the system stability is proved by Lyapunov principle.Simulation results show the validity of the control scheme.