MIMO adaptive fuzzy terminal sliding-mode controller for robotic manipulators

  • Authors:

  • Tzuu-Hseng S. Li;Yun-Cheng Huang

  • Affiliations:

  • aiRobots Laboratory, Department of Electrical Engineering, National Cheng Kung University, Tainan 70101, Taiwan, ROC;aiRobots Laboratory, Department of Electrical Engineering, National Cheng Kung University, Tainan 70101, Taiwan, ROC

  • Venue:
  • Information Sciences: an International Journal
  • Year:
  • 2010

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Abstract

A new design approach of a multiple-input-multiple-output (MIMO) adaptive fuzzy terminal sliding-mode controller (AFTSMC) for robotic manipulators is described in this article. A terminal sliding-mode controller (TSMC) can drive system tracking error to converge to zero in finite time. The AFTSMC, incorporating the fuzzy logic controller (FLC), the TSMC, and an adaptive scheme, is designed to retain the advantages of the TSMC while reducing the chattering. The adaptive law is designed on the basis of the Lyapunov stability criterion. The self-tuning parameters are adapted online to improve the performance of the fuzzy terminal sliding-mode controller (FTSMC). Thus, it does not require detailed system parameters for the presented AFTSMC. The simulation results demonstrate that the MIMO AFTSMC can provide a reasonable tracking performance.