An adaptive fuzzy sliding-mode controller
Berstecher, R.G.; Palm, R.; Unbehauen, H.D.
Industrial Electronics, IEEE Transactions on
Volume 48, Issue 1, Feb 2001 Page(s):18 - 31
Digital Object Identifier   10.1109/41.904541
Summary:This paper deals with a new adaptive fuzzy sliding-mode controller and its application to a robot manipulator arm. The theory for this approach and for the heuristics-based linguistic adaptation is presented, and a mathematical description is derived. Furthermore, an application of this adaptive controller for a two-link robot arm is shown. The obtained results show the high efficiency of the new controller type

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