In this paper, a novel adaptive fuzzy sliding mode control method is proposed for the robust tracking control of robotic manipulators. The proposed controller possesses the advantages of adaptive control, fuzzy control, and sliding mode control. First, system stability and robustness are guaranteed based on the sliding mode control. Further, fuzzy rules are developed incorporating with adaptati...

Most Fuzzy Controlers (FCs) for nonlinear 2nd order systems are designed with a two-dimensional phase plane in mind. We show that the performance and the robustness of this kind of FCs stems from their property of driving the system into the so-called sliding mode (SM) in which the controlled system is invariant to parameter fluctuations and disturbances. Additionally, the continuous distributi...

─ This paper provides new analytic tools for a rigorous control formulation and stability analysis of sliding modemultimodel controller (SM-MMC). In this way to minimise the chattering effect we will adopt as a starting point the multimodel approach to change the commutation of the sliding mode control (SMC) into fusion using a first order then a high order sliding mode control with single slid...

in this paper a control system has been designed to improve traffic conditions in car following maneuver. there are different methods to design a control system. in this paper design approach is based on the fuzzy sliding mode control (fsmc) system. the aim of designing fsmc system is to achieve safe and desire longitudinal distance and less lateral displacement. in order to control and obtain ...

Designing a robust tracking control for a non-linear MIMO system with uncertainty is one of the most complicated control problems. In this paper, sliding mode changed to non-linear controllable canonical form by input-output linearization. This, sliding surfaces can be defined in a way that we can de-couple equations and indicate the sliding conditions of multi-variable controller system. The u...

Sliding mode control is introduced into classical model free fuzzy logic control for discrete time nonlinear systems with uncertainty to the design of a novel fuzzy sliding mode control to meet the requirement of necessary and sufficient reaching conditions of sliding mode control. The simulation results show that the proposed controller outperforms the original fuzzy sliding mode controller an...

In this chapter we will study the robust performance control based-on integral sliding-mode for system with nonlinearities and perturbations that consist of external disturbances and model uncertainties of great possibility time-varying manner. Sliding-mode control is one of robust control methodologies that deal with both linear and nonlinear systems, known for over four decades (El-Ghezawi et...

Abstract: Presented is a method of continuous sliding mode control design to provide for the second-order sliding mode on the selected sliding surfaces in a three-loop control system, where two outer-loop virtual control signals must be smooth enough to be tracked in the inner loops. The control law in the vicinity of the sliding surface is a nonlinear dynamic feedback that in absence of unknow...