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Robot trajectory tracking control based on T-S fuzzy model

An adaptive sliding mode controller based on T-S fuzzy model was designed for overcoming the instability resulted from modelling error and perturbation of robotic tracking manipulator. A T-S fuzzy model is established by using sector nonlinearity processing for robot dynamic equations. The sliding mode controller is designed to ensure asymptotical stability of robot system. In the given track experiment of the two-link robot,the system achieved perfect trajectory tracking effect,and the system error was converged to zero rapidly. The results show that the method proposed in this paper has high robust stability for nonlinear system. The effectiveness of the method was verified in the experiment.