An adaptive fuzzy controller based on sliding mode for robot manipulators

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Original languageEnglish
Pages (from-to)661-667
Journal / PublicationIEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Issue number5
Publication statusPublished - 1999
Externally publishedYes


This paper considers adaptive fuzzy control of robotic manipulators based on sliding mode. It is first shown that an adaptive fuzzy system with the system representative point (RP, or as is often termed, a switching function in variable structure control (VSC) theory) and its derivative as inputs, can approximate the robot nonlinear dynamics in the neighborhood of the switching hyperplane. Then a new method for designing an adaptive fuzzy control system based on sliding mode is proposed for the trajectory tracking control of a robot with unknown nonlinear dynamics. The system stability and tracking error convergence are also proved by Lyapunov techniques. © 1999 IEEE.

Research Area(s)

  • Adaptive fuzzy systems, Adaptive tracking control, Robot manipulators, Sliding mode control