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A direct adaptive fuzzy sliding mode controller is presented for trajectory tracking control of multi-link robots with model errors and uncertain disturbances. This approach adopts a global sliding mode manifold which eliminates reaching mode phase of normal sliding mode manifold and enforce the controlled system robustness. An adaptive fuzzy controller is designed to learn the robot model error and uncertain disturbances. So the control system can automatically track the maximum limit of model errors and disturbances, and reduces chattering of the controller. Prediction estimation for model errors and disturbances of the control system is not needed too. Moreover, the system stability is proved by Lyapunov principle. Simulation results verify the validity of the control scheme.