Indirect Fuzzy Adaptive Control of Robotic Manipulator Based on Sliding Mode Scheme

摘要

An indirect fuzzy adaptive controller is designed in this paper based on sliding mode scheme to tackle the tracking control issue of a 2D SCARA robot manipulator with system dynamic model uncertainties and external disturbances. The stability of the system is ensured by the controller designed under the Lyapunov''s stability theorem, and the effectiveness of the proposed controller is verified by simulation studies with MatLab for the trajectory tracking control.