Abstract
A fuzzy sliding mode control scheme is presented in this paper in order to compensate for uncertainties in the model of the robot manipulators in the context of force control. The steps to design the fuzzy sliding mode controller are presented considering the fuzzy controller with one input (the sliding variable) and one output, with nonlinear transfer characteristic inside the boundary layer and a two input (the sliding variable and a distance to the origin of the state space) to improve the speed. In order to show a good performance on tracking force position trajectories and to validate the proposed control scheme, simulations results are presented.
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