Abstract
This paper proposed an optimized direct adaptive fuzzy sliding mode control design for trajectory tracking. Firstly, the problem descriptions and the related adaptive fuzzy sliding mode control design were presented; additionally, the consequent parameters in dynamic fuzzy logical system (DFLS) were adjusted adaptively online, and then, an adaptive dynamic fuzzy logical system (ADFLS) was constructed. Next, the antecedent parameters of the DFLS were optimized using the improved ant colony optimization (ACO) algorithm. Finally, through numerical simulation, it was validated that the optimized ADFLS showed faster online approximation performance and enhanced the control system's transient performance.
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