Robust fuzzy-based sliding mode tracking control for constrained robots with constraint uncertainties

摘要

Robust fuzzy-based sliding mode tracking control designs are proposed for constrained robot systems with plant uncertainties and external disturbances. Structures of mechanical dynamics can be allowed to be completely unknown and the constraint surface to be perturbed by time-varying bounded uncertainties. Adaptive fuzzy systems are employed to approximate the behaviors of uncertain dynamics and the SMC algorithm is used to eliminate the effect of the time-varying perturbation. Simulation examples are presented to demonstrate the effectiveness and the tracking performance of the proposed control algorithm.