Adaptive fuzzy sliding control for a three-link passive robotic manipulator


An adaptive fuzzy sliding control (AFSC) scheme is proposed to control a passive robotic manipulator. The motivation for the design of the adaptive fuzzy sliding controller is to eliminate the chattering and the requirement of pre-knowledge on the bounds of the errors associated with the conventional sliding control. The stability and convergence of the… (More)
DOI: 10.1017/S0263574704001079


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