Article: Decentralised adaptive fuzzy sliding mode control for robotic arms using a voltage control approach in workspace Journal: International Journal of Systems, Control and Communications (IJSCC) 2025 Vol.16 No.6 pp.1 - 20 Abstract: The paper presents a novel decentralised adaptive fuzzy sliding mode control (AFSMC) strategy with voltage-based control for robotic arms operating in the workspace. Traditional torque-based methods require precise dynamic modelling and are often too computationally intensive for real-time or embedded applications. The proposed approach directly manipulates motor voltage inputs, simplifying control law derivation while ensuring robustness against uncertainties, unknown dynamics, and external disturbances. By integrating fuzzy logic approximators within the sliding mode framework, the method effectively compensates for structural and non-structural uncertainties, eliminating the need for accurate dynamic models. A hyperbolic tangent function is employed to reduce chattering and achieve smoother control signals. Furthermore, the workspace-based design addresses end-effector trajectory limitations inherent in joint-space controllers. Simulation results for a three-degree-of-freedom manipulator demonstrate high tracking precision, excellent disturbance rejection, and lower computational demand, making the proposed voltage-based AFSMC highly suitable for real-time industrial and collaborative robotic applications. Inderscience Publishers - linking academia, business and industry through research

Title: Decentralised adaptive fuzzy sliding mode control for robotic arms using a voltage control approach in workspace

Authors: Li Wang

Addresses: School of Mechanical Engineering, Chongqing Industry Polytechnic University, Chongqing, 400020, China

Abstract: The paper presents a novel decentralised adaptive fuzzy sliding mode control (AFSMC) strategy with voltage-based control for robotic arms operating in the workspace. Traditional torque-based methods require precise dynamic modelling and are often too computationally intensive for real-time or embedded applications. The proposed approach directly manipulates motor voltage inputs, simplifying control law derivation while ensuring robustness against uncertainties, unknown dynamics, and external disturbances. By integrating fuzzy logic approximators within the sliding mode framework, the method effectively compensates for structural and non-structural uncertainties, eliminating the need for accurate dynamic models. A hyperbolic tangent function is employed to reduce chattering and achieve smoother control signals. Furthermore, the workspace-based design addresses end-effector trajectory limitations inherent in joint-space controllers. Simulation results for a three-degree-of-freedom manipulator demonstrate high tracking precision, excellent disturbance rejection, and lower computational demand, making the proposed voltage-based AFSMC highly suitable for real-time industrial and collaborative robotic applications.

Keywords: robotic arm control; voltage control tactic; adaptive fuzzy sliding mode control; AFSMC.

DOI: 10.1504/IJSCC.2025.149423

International Journal of Systems, Control and Communications, 2025 Vol.16 No.6, pp.1 - 20

Received: 26 Apr 2025
Accepted: 28 May 2025
Published online: 30 Oct 2025 *

Title: Decentralised adaptive fuzzy sliding mode control for robotic arms using a voltage control approach in workspace

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