MIMO adaptive fuzzy terminal sliding-mode controller for robotic manipulators

Tzuu-Hseng S. Li, Yun Cheng Huang

Research output: Contribution to journalArticle

116 Citations (Scopus)


A new design approach of a multiple-input-multiple-output (MIMO) adaptive fuzzy terminal sliding-mode controller (AFTSMC) for robotic manipulators is described in this article. A terminal sliding-mode controller (TSMC) can drive system tracking error to converge to zero in finite time. The AFTSMC, incorporating the fuzzy logic controller (FLC), the TSMC, and an adaptive scheme, is designed to retain the advantages of the TSMC while reducing the chattering. The adaptive law is designed on the basis of the Lyapunov stability criterion. The self-tuning parameters are adapted online to improve the performance of the fuzzy terminal sliding-mode controller (FTSMC). Thus, it does not require detailed system parameters for the presented AFTSMC. The simulation results demonstrate that the MIMO AFTSMC can provide a reasonable tracking performance.

Original languageEnglish
Pages (from-to)4641-4660
Number of pages20
JournalInformation sciences
Issue number23
Publication statusPublished - 2010 Dec 1


All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Software
  • Control and Systems Engineering
  • Theoretical Computer Science
  • Computer Science Applications
  • Information Systems and Management

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