Fuzzy moving sliding mode control with application to robotic manipulators

This paper presents a fuzzy tuning approach to sliding mode control for tra cking-performance enhancement in a class of nonlinear systems. The sliding surface can rotate or shift in the phase space in such a direction that the tracking behaviour can be improved. It is shown that with arbitrary initia l conditions, the reaching time and tracking error in the approaching phase can be significantly reduced. Chattering can also be reduced by fuzzy tuni ng of the controller parameters. A two-degree-of-freedom robotic manipulato r subject to external disturbances is simulated to demonstrate the validity of the proposed method. (C) 1999 Elsevier Science Ltd. All rights reserved .