Adaptive fuzzy sliding mode control for a two-link robot

Abstract

This paper addresses the problem of controlling unknown multiple-input-multiple-output nonlinear systems. First, a sliding mode controller for robust tracking control of multivariable nonlinear systems is developed. In case of unknown of system dynamics, an adaptive fuzzy sliding mode controller (AFSMC) is used to approximate the equivalent control with online self-tuning of fuzzy parameters. Secondly, the hitting control is used to ensure that the proposed AFSMC can result in a closed-loop system that is stable for the trajectory-tracking control of a plant with unknown nonlinear dynamics. The proposed design method is then applied to control a two-link robot to illustrate its effectiveness