An adaptive fuzzy controller based on sliding mode for robot manipulators

This paper considers adaptive fuzzy control of robotic manipulators based o n sliding mode. It is first shown that an adaptive fuzzy system with the sy stem representative point (RP, or as is often termed, a switching function in variable structure control (VSC) theory) and its derivative as inputs, c an approximate the robot nonlinear dynamics in the neighborhood of the swit ching hyperplane. Then a new method for designing an adaptive fuzzy control system based on sliding mode is proposed for the trajectory tracking contr ol of a robot with unknown nonlinear dynamics. The system stability and tra cking error convergence are also proved by Lyapunov techniques.