Adaptive Sliding Mode Controller for Robotic Manipulator Tracking Control with Fuzzy Design

Abstract

This paper introduces an adaptive sliding mode controller design based on fuzzy compensation for efficient robotic manipulator tracking control. This work introduces design of Adaptive Fuzzy Controller based on sliding control principles for Robotic Manipulators. In the work, an adaptive fuzzy sliding mode control algorithm is proposed for tracking control of robot manipulators. The fuzzy system uses a set of fuzzy rules, the parameters of which are modified in real-time by adaptive laws, to approximate unknown nonlinearities. This makes it easier to direct the nonlinear system's output to follow a specific trajectory. An adaptive control algorithm based on the adaptive fuzzy model is created using the Lyapunov approach. Both the chattering and the stable performance are assured.