One of the most active research areas in field of robotics is control of robot manipulator because
this system has highly nonlinear dynamic parameters and most of dynamic parameters are
unknown so design an acceptable controller is the main goal in this work. To solve this challenge
position new estimation sliding mode fuzzy controller is introduced and applied to robot
manipulator. This controller can solve to most important challenge in classical sliding mode
controller in presence of highly uncertainty, namely; chattering phenomenon based on fuzzy
estimator and online tuning and equivalent nonlinear dynamic based on estimation. Proposed
method has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise
time=0.8 s, steady state error = 1e-9 and RMS error=0.0001632).
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