The Application of Modified Fuzzy Sliding Mode Controllers to Robotic Manipulators

This paper presents a modified fuzzy sliding mode controller (MFSMC) for improving the tracking-performance of robotic manipulators, in which the fuzzy logic system is adopted as the adaptation mechanism to tune the gain of the sliding mode controller. To meet the real-time requirement of the robot system, the region-wise linear technology is introduced to reduce the fuzzy rules of the MFSMC. The simulation results have shown that the proposed controller can achieve a higher performance with minimum reaching time and smooth control actions. In addition, it shows that the controller is effective and robust to the parametric variation and external disturbance.