Robust sliding mode control with application

This paper presents a methodology combining sliding mode control and fuzzy tuning technique to enhance robustness and sliding performance in a class o f non-linear control systems. The proposed control law consists of equivale nt control, robust control, and fuzzy control. The equivalent control is de signed such that the nominal system exhibits desirable dynamics. The robust control is then developed to guarantee The reaching condition in the prese nce of parameter and disturbance uncertainties. Fuzzy tuning schemes are em ployed to improve control performance and to alleviate chattering in the sl iding mode. The method is applied to the control of a two-degree-of-freedom robotic manipulator. Simulation results verify the validity of the propose d approach.