This paper proposes an adaptive control scheme based on terminal sliding mode (TSM) for robotic manipulators with output constraints and unknown disturbances. The fuzzy logic system (FLS) is developed to approximate unknown dynamics of robotic manipulators. An error transformation technique is used in the process of controller design to ensure that the output constraints are not violated. The advantage of the error transformation compared to traditional barrier Lyapunov functions (BLFs) is that there is no need to design a virtual controller. Thus, the design complexity of the controller is reduced. Through Lyapunov stability analysis, the system state can be proved to converge to the neighborhood near the balanced point in finite time. Extensive simulation results illustrated the validity of the proposed controller.

中文翻译：

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具有输出约束的机器人机械手基于 TSM 的自适应模糊控制

本文提出了一种基于终端滑动模式（TSM）的自适应控制方案，用于具有输出约束和未知干扰的机器人机械手。模糊逻辑系统 (FLS) 被开发用于近似机器人机械手的未知动力学。在控制器设计过程中使用误差转换技术来确保不违反输出约束。与传统的障碍李雅普诺夫函数 (BLF) 相比，误差变换的优势在于无需设计虚拟控制器。因此，降低了控制器的设计复杂度。通过李雅普诺夫稳定性分析，可以证明系统状态在有限时间内收敛到平衡点附近的邻域。大量的仿真结果说明了所提出的控制器的有效性。