Design of an Adaptive T–S Fuzzy Sliding Mode Controller for Robot Arm Tracking

Abstract

In this paper, we propose a novel adaptive T–S fuzzy sliding mode controller (ATSFSMC) and apply it to robot arm trajectory tracking. Since the robot arm belongs to a highly nonlinear system model, we use T–S fuzzy sliding mode control (TSFSMC) as the main controller, and consider the problems encountered in the actual solution of Linear matrix inequalities (LMI), then propose a split system matrix method to effectively solve the problem. In order to ensure that the controller has the best control parameters, we propose a new Lyapunov function design method, so that the state gain parameters in TSFSMC can be adjusted to the best value by the adaptive law, and the controller can handle the unknown disturbances and uncertainties of the system. Finally, we prove the stability of the system and demonstrate the excellent performance of the controller through simulation and experimental results.