Abstract
A new fuzzy adaptive sliding mode controller based on fuzzy compensation for robot is proposed. The control architecture employs fuzzy systems to compensate adaptively for plant uncertainties to distinguish different disturbance compensation terms and approximate each of them respectively. By analyzing and comparing the simulation results, it is obviously shown that the control system can lighten the effect on the control system caused by different disturbance factors and eliminate the system chattering than that of traditional SMC.
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