Trajectory Tracking of a Flexible Robot Manipulator by a New Optimized Fuzzy Adaptive Sliding Mode-Based Feedback Linearization Controller

This work presents a novel fuzzy adaptive sliding mode-based feedback linearization controller for trajectory tracking of a flexible robot manipulator. To reach this goal, after deriving the dynamical equations of the robot, the feedback linearization approach is utilized to change the nonlinear dynamics to a linear one and find the control law. Then, the sliding mode control strategy is implemented to design a stabilizer for trajectory tracking...