Fuzzy sliding mode control for a class of non-linear continuous systems
International Journal of Computer Applications in Technology
Robust Fuzzy Output Sliding Control without the Requirement of State Measurement
Journal of Intelligent and Robotic Systems
An intelligent robust tracking control for electrically-driven robot systems
International Journal of Systems Science
Simulating human lifting motions using fuzzy-logic control
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans - Special section: Best papers from the 2007 biometrics: Theory, applications, and systems (BTAS 07) conference
An investigation of adaptive fuzzy sliding mode control for robotic manipulators
CA '07 Proceedings of the Ninth IASTED International Conference on Control and Applications
Fuzzy rule-based combination of linear and switching state-feedback controllers
Fuzzy Sets and Systems
Enhanced fuzzy sliding mode controller for robotic manipulators
International Journal of Robotics and Automation
MIMO adaptive fuzzy terminal sliding-mode controller for robotic manipulators
Information Sciences: an International Journal
Type-2 fuzzy sliding mode control without reaching phase for nonlinear system
Engineering Applications of Artificial Intelligence
Adaptive fuzzy sliding mode control for electro-hydraulic servo mechanism
Expert Systems with Applications: An International Journal
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This paper proposes an adaptive fuzzy sliding mode controller for robotic manipulators. An adaptive single-input single-output (SISO) fuzzy system is applied to calculate each element of the control gain vector in a sliding mode controller. The adaptive law is designed based on the Lyapunov method. Mathematical proof for the stability and the convergence of the system is presented. Various operation situations such as the set point control and the trajectory control are simulated. The simulation results demonstrate that the chattering and the steady state errors, which usually occur in the classical sliding mode control, are eliminated and satisfactory trajectory tracking is achieved.