Adaptive fuzzy sliding mode control for the two-link robot

  title={Adaptive fuzzy sliding mode control for the two-link robot},
  author={Rachid Naoual and El Mehdi Mellouli and Ismail Boumhidi},
  journal={2014 9th International Conference on Intelligent Systems: Theories and Applications (SITA-14)},
This paper presents a combined fuzzy logic with the sliding mode to design a robust controller for the two-link robot system. The fuzzy sliding mode controller is used to solve the nonlinear dynamic systems, uncertainties and external disturbances. The proposed strategy uses the adaptive fuzzy system Takagi-Sugeno (T-S) to approximate the sliding function control gain and the unknown dynamics of the considered system. The projection of the parameters is used to ensure that the auxiliary gain of… CONTINUE READING
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