Nonsingular Fast Terminal Sliding Mode Controller for a Robotic System: A Fuzzy Approach

Abstract

This paper proposes a fuzzy nonsingular fast sliding mode control based on a fuzzy model applied to a robotic system. The objective of the proposed approach to guarantee the convergence of the system to desired trajectories quickly and in finite time in presence of uncertainties and external disturbances. The equivalent control law is deduced from the stability analysis using the nonsingular fast sliding surface. The gains used in the switching control are calculated from adaptive type-2 fuzzy systems to overcome the constraint on the knowledge of the upper bounds of both uncertainties and external disturbances. Simulation results are given to see the obtained performances.