Abstract:
In this paper, an observer based on Fuzzy Neural
Network (FNN) is combined with sliding mode to design an
adaptive robust controller without chattering problems for
the two-links robot with unknown dynamics and external
disturbances. The adaptive fuzzy logic and neural network
approaches are used to approximate the unknown models of
the MIMO robot system. The observer design is based on
the resulting improved model. Moreover the auxiliary
sliding mode control term is included in the control law to
attenuate respectively the FNN approximation errors and
the external disturbances. The stability of the system is
provided by the Lyapunov approach. The simulation results
demonstrate the efficiency and robustness of the proposed
control scheme
