Adaptive fuzzy sliding mode control for robotic manipulators

An adaptive fuzzy sliding mode control scheme is designed for robotic manipulators. By transforming the sliding surface and using the hyperbolic tangent function, a fuzzy logic system is constructed to approximate the conventional sliding mode control. The continuous hyperbolic tangent function and the group of pseudo-sliding surfaces can eliminate the chattering effectively, and meanwhile, a satisfactory tracking accuracy can be achieved. Stability analysis shows that this approach can guarantee the boundedness of all the signals in the closed loop. Tracking performance is illustrated by simulation results.