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

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.