Adaptive fuzzy sliding control for a three-link passive robotic manipulator

摘要

An adaptive fuzzy sliding control scheme is proposed to control a passive robotic manipulator. The motivation for the design of the adaptive fuzzy sliding controller is to eliminate the chattering and the requirement of pre-knowledge on bounds of error associated with the conventional sliding control. The stability and convergence of the adaptive fuzzy sliding controller is proven both theoretically and practically by simulations. A three-link passive manipulator model with two unactuated joints is derived to be used in the simulations. Simulation results demonstrate that the proposed system is robust against structured and unstructured uncertainties.