Abstract
This paper deals with a new adaptive sliding mode controller and its practical application to a robot manipulator arm. The theory for this new fuzzy sliding mode controller approach and for the heuristics-bayed linguistic adaptation is presented and a mathematical description is derived. Furthermore the application of this adaptive controller is shown for a simulated two-link robot arm and for the real time operation of a mobile three-link robot arm, respectively. The obtained results show the high efficiency of the new controller type.
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