Enhanced fuzzy sliding mode controller for robotic manipulators

This paper presents an enhanced fuzzy sliding mode controller (EFSMC) 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. The EFSMC can drive the state variables of robotic manipulators to hit a user-defined sliding surface quickly and slide along it. The sliding and global stability conditions are formulated and analyzed in terms of Lyapunov full quadratic form. To satisfy the real-time requirement of the robot system, the region-wise linear technology is introduced to reduce the fuzzy rules of the EFSMC. 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.