A decoupled fuzzy indirect adaptive sliding mode controller with application to robot manipulator

Abstract

This paper presents a decoupled adaptive fuzzy Sliding Mode Control (SMC) for robotic manipulators. This controller is proposed for a class of Multiple-Input Multiple-Output (MIMO) systems with unknown non-linear dynamics. Indeed, an online fuzzy adaptation scheme is suggested to approximate unknown non-linear functions to design SMC. Moreover, the proposed controller is replaced by a local decoupled controller for each arm. The stability of the proposed control scheme is proved. As an illustration, the trajectory control of a two-degrees-of-freedom robotic manipulator is considered.