A new approach to the design of a fuzzy sliding mode controller

By defining a new generalized error transformation as a complement to the conventional sliding variable, we derived a novel stable sliding mode control scheme on which the design of a new two-input, one-output fuzzy sliding mode controller is based. A significant advantage of this control scheme is its distinct capability of improving the transient behavior of the system during the reaching phase as well as the guaranteed steady-state tracking precision while in the boundary layer. The design procedure was illustrated by a force-adaptive robot effector acting on various profiles of surfaces. As demonstrated from simulations, it appears that a comparatively good performance can be reached by the proposed fuzzy controller. (C) 2002 Elsevier B.V. All rights reserved.