Advanced Adaptive Fuzzy Sliding Control Technique for Nonlinear 2-DOF PAM Robot Arm
摘要
This paper examines an advanced adaptive fuzzy-sliding control (AAFSMC) algorithm successfully applied to accurately trajectory track of a 2-joint PAM-based robot arm system. The Lyapunov theorem is used to prove the stability of the closed-loop 2-link PAM-based robot system. Simulation and experimental benchmark tests using the suggested method, applied to the robot arm system, are fully investigated and show its superiority in comparison with other advanced SMC control approaches.