Superior Adaptive Fuzzy Sliding Mode Control of Electrically Driven Robot Manipulators

This manuscript suggests a novel control design for adaptive fuzzy sliding mode control (AFSMC) of electrically driven robot manipulators based on the voltage control strategy. The structure of the control system is superior to the existing AFSMC approaches. The fuzzy controller of each joint has a simple decentralized structure using only the tracking error as the input and three fuzzy rules with guaranteed stability. Unlike most robust controllers, the proposed control design does not require prior knowledge of the uncertainty bounding functions. Instead of the sign function, a fuzzy system is designed to improve the tracking performance and chattering attenuation. A framework is presented to reduce the fuzzy approximation error. Compensating uncertainties with ease of implementation and fast responsivity due to small computational efforts makes the control design more applicable. The effectiveness of the proposed control approach is illustrated by simulations on an electrically driven 4-DOF SCARA manipulator through comparisons.