Fuzzy Reaching Law Sliding Mode Control of Robot Manipulators

Abstract

A new method of fuzzy reaching law sliding mode variable structure control of robot manipulators is proposed, which is formed by incorporating sliding mode control and fuzzy control with reaching law. This method converts of a multi-input system into single-input systems. It can not only track approximately the desired trajectory and make system have good control property, but also completely eliminate the chattering of conventional sliding mode control. The stability of system is proved by using Lyapunov function. The simulation results of a two-degree-of-freedom robot manipulators show that the validity of this method.