Sliding-mode motion controller with adaptive fuzzy disturbance estimation

In this work, a motion control scheme, which belongs to the class of control schemes known as sliding mode control with disturbance estimation, is proposed. The adaptive fuzzy disturbance estimator works as an online identifier of most of the robot dynamics. An adaptation algorithm is derived by using the Lyapunov stability theory and provides global asymptotic stability of the state errors. For the implementation on the robot, three physically based fuzzy logic subsystems are used. The efficiency of the proposed controller scheme was tested by experiments on direct drive robot.