Fuzzy moving fast terminal sliding mode control for robotic manipulators

Abstract

This paper presents a new form of nonsingular terminal sliding mode control with fuzzy tuning approach for tracking-performance enhancement in a class of nonlinear systems with uncertainties and external disturbance. The robustness of the controller is established using the Lyapunov stability theory. The main contribution of the proposed method is that the terminal sliding surface can rotate and bend in the phase space so that the tracking performance can be enhanced, and chattering can also be reduced by employing fuzzy tuning of the controller parameters. Theoretical analysis and simulation results demonstrate the efficacy and superiority of the proposed approach in the sense of tracking-performance enhancement comparing with conventional terminal sliding mode control.