Implementation of adaptive fuzzy sliding mode control for nonlinear uncertain serial pneumatic-artificial-muscle (PAM) robot system

Abstract

This paper proposes a new advanced adaptive fuzzy sliding mode control (AAFSMC) approach and their suitability for use in the control of a highly nonlinear 2-dof serial PAM robot. Stability proof of the stable convergence of the overall closed-loop serial PAM robot system under novel AAFSMC control is demonstrated based on Lyapunov stability principle. Simulation results prove that the proposed AAFSMC control algorithm, applied to a two degree of freedom nonlinear serial PAM robot, are successfully designed and implemented with better performance and robustness in comparison with previous SMC and fuzzy SMC approaches.