A robust controller design for a robotic system

Lafi Alnufaie

Roboticsystems, nonsingular fast terminal sliding mode control.

This paper proposes a nonsingular fast sliding mode control based on a fuzzy model applied to a robotic system. The objective of the proposed approach to guarantee the convergence of the system to desired trajectories quickly and in finite time in presence of uncertainties and external disturbances. Simulation results are given to see the obtained performances.

Received: 08 Oct 2023, Receive in revised form: 10 Nov 2023, Accepted: 19 Nov 2023, Available online: 28 Nov 2023

10.22161/ijaers.1011.9