Adaptive fuzzy controller design for robotic manipulators with sliding mode control

Abstract

In this paper, an adaptive fuzzy sliding mode controller is proposed for a three-axis SCARA manipulator. The proposed controller possesses the advantages of adaptive control, fuzzy control, and sliding mode control. Based on the concept of sliding mode, fuzzy rules are developed to alleviate the input chattering effectively by using the developed adaptation law. The stability of the three-axis SCARA manipulator is guaranteed by using the Lyapunov method. The simulation results demonstrate that the chattering and steady state errors are eliminated and satisfactory trajectory tracking is achieved.