Fuzzy terminal sliding-mode controller for robotic manipulators

  title={Fuzzy terminal sliding-mode controller for robotic manipulators},
  author={Tzuu-Hseng S. Li and Yun-Cheng Huang},
  journal={IEEE International Conference on Mechatronics, 2005. ICM '05.},
In this paper, a new fuzzy terminal sliding-mode controller (FTSMC) is developed for robotic manipulators. A terminal sliding mode controller can drive the system tracking errors to converge to zero in finite time and the closed-loop system is infinitely stable. The FTSMC, incorporating the fuzzy logic controller and the terminal sliding-mode controller, is designed to retain the advantages of the terminal sliding-mode controller and to reduce the chattering. The simulation results show that… CONTINUE READING
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