Fuzzy terminal sliding-mode controller for robotic manipulators

Abstract

In this paper, a new fuzzy terminal sliding-mode controller (FTSMC) is developed for robotic manipulators. A terminal sliding mode controller can drive the system tracking errors to converge to zero in finite time and the closed-loop system is infinitely stable. The FTSMC, incorporating the fuzzy logic controller and the terminal sliding-mode controller, is designed to retain the advantages of the terminal sliding-mode controller and to reduce the chattering. The simulation results show that the FTSMC can provide much good tracking performance than that of the classical fuzzy sliding-mode controller (FSMC).