A new robust FTC is developed for r

A new robust FTC is developed for robot manipulators using an adaptive fuzzy integral sliding mode control (AFISMC) and a disturbance observer (DO) (AFISMC-DO). The design procedure is started by analyzing the features of the ISMC for FTC system. Then, in order to enhance the performance of the system, an adaptive fuzzy logic system and a disturbance observer are developed and integrated into the nominal controller of the ISMC. In addition, an adaptive two-layer super-twisting algorithm is employed into the hybrid system to eliminate the chattering and enhance the tracking precision of the system. The nominal controller of the proposed method is built based on the backstepping control technique so that the adaptive law of the fuzzy logic system can be reconstructed properly based on Lyapunov criteria. The effectiveness of the proposed method is verified on the PUMA560 robot and compared with other advanced control methods. The comparison results verify the effectiveness of the proposed strategy.In this paper, the parameters of the proposed control method were chosen based on experiences or trial and error procedure. Therefore, the selected parameters were not the optimal values. In addition, the constraints of the control inputs were not considered (the output constraints of the system could be guaranteed already due to the property of the ISMC, as aforementioned discussion). In the future work, we will investigate algorithms/methods to obtaining the optimal parameters of the system and study the effectiveness of the proposed controller for the system under the input constraints.