Fuzzy control of a manipulator using the concept of sliding mode

This paper proposes a design of fuzzy control of a manipulator using the concept of a sliding mode. The fuzzy rules are toned by learning the input for the sliding mode control. Usually it is difficult to construct the ideal sliding mode control because the input for the manipulator cannot be switched during the sampling interval. Since the magnitude of the chattering on the sliding surface is approximately proportional to the constrained force in switching surface, the tuning method of the fuzzy, rules is easily obtained. The proposed method is useful to realize the robustness of fuzzy control because the fuzzy rules are equivalently improved by the robust input for the sliding mode control on each learning step of the tuning process. A numerical example is given to illustrate the usefulness of the proposed method.