中文摘要：

为了解决机器人跟踪控制的建模误差和扰动所引起的不稳定问题，设计一种基于T-S模糊模型的滑模控制器。首先对机器人动力学方程进行扇区非线性处理，建立T-S模糊模型，然后设计出保证机器人系统渐近稳定的滑模控制器。对二连杆机器人进行给定轨迹实验时，系统具有良好的轨迹跟踪性能，系统误差很快收敛到零。实验结果表明该方法对非线性系统具有较强的鲁棒稳定性，验证了该方法的有效性。

英文摘要：

An adaptive sliding mode controller based on T-S fuzzy model was designed for overcoming the instability resulted from modelling error and perturbation of robotic tracking manipulator. A T-S fuzzy model is established by using sector nonlinear-ity processing for robot dynamic equations. The sliding mode controller is designed to ensure asymptotical stability of robot sys-tem. In the given track experiment of the two-link robot,the system achieved perfect trajectory tracking effect,and the system error was converged to zero rapidly. The results show that the method proposed in this paper has high robust stability for nonlin-ear system. The effectiveness of the method was verified in the experiment.