Fuzzy Nonsingular Terminal Sliding Mode Control for Multi-link Robots

This paper introduces a method of fuzzy nonsingular terminal sliding mode (FNTSM) control for tracking control of multi-link robot manipulators.This method avoids some disadvantages of nonsingular terminal sliding mode (NTSM) control by fuzzy control that adjusts the switching gain of sliding mode control,achieves automatic tracking the maximum limit of model errors and disturbances by integral,and reduces chattering.The system stability is proved by Lyapunov principle.Simulation results verify the validity of the control scheme.