Abstract
In this paper, an adaptive fuzzy sliding mode controller is proposed for a three-axis SCARA manipulator. The proposed controller possesses the advantages of adaptive control, fuzzy control, and sliding mode control. Based on the concept of sliding mode, fuzzy rules are developed to alleviate the input chattering effectively by using the developed adaptation law. The stability of the three-axis SCARA manipulator is guaranteed by using the Lyapunov method. The simulation results demonstrate that the chattering and steady state errors are eliminated and satisfactory trajectory tracking is achieved.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
