Indirect adaptive fuzzy sliding mode control for uncertain multi-link robots

摘要

An indirect adaptive fuzzy sliding mode controller is presented for trajectory tracking control of uncertain multi-link robots. This approach combines adaptive fuzzy control and global fast sliding mode control, and adopts a global fast sliding mode manifold which can drive system to reach balance point in finite time. Three fuzzy systems are designed to learn the uncertain robot parameters and external disturbances. So the control system can automatically track the robot parameters and disturbances, and reduces chattering of the controller. Prediction estimation for robot parameters and disturbances is not needed too. The control speed is quickened by simplifying the robot structure and decreasing learning parameters of the uncertain robot. Moreover, the system stability is proved by Lyapunov principle. Simulation results verify the validity of the control scheme.