Fuzzy Output Sliding Mode Control for Nonlinear Robot Arms

A fuzzy output sliding mode control method for nonlinear robot arms is proposed. A linearized mathematical model is first obtained. The proposed method retains the advantages of the conventional sliding mode control such as insensitivity against parameter variations and external disturbances. The fuzzy controller simplifies the complicated control law. Further, it is not required to on-line measure all the states. System stability is proven using the Lyapunov stability theorem. System robustness is achieved. The original nonlinear dynamic equations are used in simulation. Simulation results demonstrate the effectiveness of the proposed method.