In this paper global sliding control for multi - link robot manipulators is studied and a global fuzzy self - learning sliding mode controller is proposed, which combines fuzzy control and global sliding control to restrain the chattering around the sliding plane. The output of a fuzzy control system is substituted for the non - continuous switching Control volume and a self - learning algorithm is devised to regulate the fuzzy membership func- tions parameters according to the sliding mode variable structure theory. Some simulation results of a two - link robotic manipulator show that the con...
