Abstract
In this paper, the nonsingular terminal sliding mode (NTSM) control scheme with the adaptive fuzzy cerebellar model articulation controller (CMAC) is proposed to solve the tracking problem for a robotic system. Compared with the conventional terminal sliding mode control, the nonsingular terminal sliding mode control provides faster convergence and higher precision control. The proposed controller combined the NTSM controller with the adaptive fuzzy CMAC to improve robustness of robot control systems. The fuzzy CMAC is used to estimate the unknown dynamics of robotics systems. The stability of the closed-loop robotic system is proven by Lyapunov theory. Finally, the simulation results show the effectiveness of this control method.
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