Combined fuzzy logic and sliding mode approach's for modelling and control of the two link robot

In this paper, we present a combined fuzzy logic and sliding mode to design a robust controller for the two links robot without chattering problems. This combination can reduce chattering, because the upper bound of uncertainties becomes smaller when fuzzy logic are used to model unknown nonlinear systems. The proposed strategy uses the adaptive fuzzy system Takagi-Sugeno (T-S) to approximate the dynamics of the MIMO system. The small gain auxiliary sliding mode control term is incorporated in the control law to attenuate the external disturbances and remove fuzzy approximation modeling error. The simulation results show the effectiveness of the proposed method.