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1083–4419/99$10.00  1999 IEEE
An Adaptive Fuzzy Controller Based
on Sliding Mode for Robot Manipulators
F. C. Sun, Z. Q. Sun, and G. Feng
Abstract—This paper considers adaptive fuzzy control of robotic ma-
nipulators based on sliding mode. It is first shown that an adaptive fuzzy
system with the system representative point (RP, or as is often termed,
a switching function in variable structure control (VSC) theory) and its
derivative as inputs, can approximate the robot nonlinear dynamics in
the neighborhood of the switching hyperplane. Then a new method for
designing an adaptive fuzzy control system based on sliding mode is
proposed for the trajectory tracking control of a robot with unknown
nonlinear dynamics. The system stability and tracking error convergence
are also proved by Lyapunov techniques.
Index Terms—Adaptive fuzzy systems, adaptive tracking control, robot
manipulators, sliding mode control.
I. INTRODUCTION
Sliding mode control and fuzzy control are two attractive methods
for robot control. However, Both of them suffer from some problems.
The sliding mode control has been confirmed as an effectively robust
control approach for nonlinear systems against parameters and load
variations during the past decades. However, some bounds on system
uncertainties must be estimated in order to guarantee the stability
of the closed-loop system, and its implementation in practice will
cause a chattering problem, which is undesirable in application [1].
As for the fuzzy control, though it is one of the most effective
methods using expert knowledge without knowing the parameters
and structure of the nonlinear systems, the major drawback is lack of
adequate analysis and design techniques. To overcome their demerits,
a novel approach called fuzzy sliding mode control which combines
the attractive features of fuzzy control and sliding mode control, has
appeared and is receiving more and more attention [2]–[8], [10]–[12].
By introducing the concept of sliding mode to the fuzzy control
and fuzzifying the sliding surface, the chattering in a sliding mode
control system can be alleviated, and the fuzzy control rules can be
determined systematically by the reaching condition of the sliding
mode control. These features makes it practical to design an adaptive
fuzzy controller based on sliding mode.
There are two main kinds of fuzzy sliding mode control ap-
proaches. One is for systems with model partially known where
fuzzy control is used to properly adjust the feedback gain in the
conventional sliding mode control system. The resulting sliding mode
control is so moderate that the RP can reach the switching surface
smoothly and do not cross it frequently. As a result, alleviation of
chattering and robust performance can be achieved without sacrificing
invariant property [2], [3]. The other is for systems with model
unknown where fuzzy control is used to reconstruct the system
Manuscript received August 27, 1996; revised September 18, 1998. This
work was supported by the National Science Foundation of China under Grant
69685002.
F. C. Sun and Z. Q. Sun are with the Department of Computer Science
and Technology, National Laboratory of Intelligence Technology & Systems,
Tsinghua University, Beijing 100084, China.
G. Feng is with the School of Electrical Engineering, University of New
South Wales, Sydney 2052, NSW, Australia.
Publisher Item Identifier S 1083-4419(99)03539-6.
662 IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS—PART B: CYBERNETICS, VOL. 29, NO. 4, AUGUST 1999

dynamic model or the system control while the sliding mode control
is used to assign the fuzzy control rules initially and provide the
global stability of the closed-loop system. Hwang et al. [4] originally
formulated this problem, and their work has instigated extensive
research on it [5]–[8], [10]–[12]. A self-organizing and the adaptive
fuzzy sliding mode controllers were proposed in [5]–[7], respectively.
However, it is very difficult to directly extend the self-organizing
design approach [5] into multiple input and multiple output (MIMO)
case. The adaptive control approach considered in [6] was presented
for a single input and single output (SISO) nonlinear system, which
did not discuss the generation of the fuzzy control rules. Main
problems for the adaptive design approach [7] include
1) how to create suitable fuzzy rules remains unsolved;
2) as the system dimension increases, the rule number will become
Fig. 1. Adaptive fuzzy system.
so large that the implementation will be very difficult.
Though a two-stage design was proposed in [7], it was complex
and the constraints imposed were very restrictive. To overcome these Definition 1: A fuzzy rule base, R = [Ml=1 Rl ; is a union of fuzzy
problems, [8] proposed a new fuzzy control approach based on sliding rules, in which each rule Rl is of the form

Rl : if x1 is Al1 ; x2 is Al2 ; 1 1 1 ; xp is Alp ;

mode where the robot inverse model is constructed by a fuzzy-logic
modeling method [9], and a simplified fuzzy sliding mode control
with only the system RP as its input is used to stabilize the controlled then the output y1 is B1l ; 1 1 1 ; yq is Bql (1)

M is the total number of rules, x = (x1 ; 1 1 1 ; xn )T and y =

system. The use of the RP to replace the error and the rate of error in
where
the conventional fuzzy control results in a reduced dimension of the T
(y1 ; 1 1 1 ; ym ) are the input and output vectors of a fuzzy system,
respectively. Ali and Bjl are the linguistic variables of the fuzzy sets
input space and a decreased number of fuzzy rules. Similar processing
methods can be found in [10], [11]. Besides, a decentralized control
approach can also be used to solve these problems [12]. in the subspace Ui and Vj ; described by their membership functions
In this paper, a fuzzy system is used as an adaptive approximator A (xi ) and B (yj ); 1  p  n; 1  q  m; l = 1; 2; 1 1 1 ; M:
for the robot nonlinear dynamics. It is shown that the fuzzy system Definition 2: The output of a fuzzy system with center-average
using the system RP and its derivative as inputs can approximate defuzzifier, product inference, and singleton fuzzifier are of the
the robot nonlinear dynamics in the neighborhood of the switching following form:
hyperplane. Thus the fuzzy controller design can be greatly simplified, M p
and at the same time, the fuzzy control rules can be obtained initially A (xi ) ylj
by the reaching condition of the sliding mode control. Then a new
yj =
l=1 i=1 (j = 1; 1 1 1 ; m)
fuzzy adaptive control scheme is presented for robot tracking control, M p (2)
which can alleviate the chattering inherent in sliding mode control A (xi )
without the sacrifice of robustness against model uncertainties and l=1 i=1
where y lj is the point in Vj at which B (yj ) achieves its maximum
external disturbances. The simulations of a two-link manipulator
demonstrate properties of the proposed control approach.
The rest of the paper is organized as follows. In Section II, some value assumed to be 1.
basics for an adaptive fuzzy system, robot model and its properties The fuzzy systems can be made to be adaptive to maintain
consistent performance in situations where there is a large uncertainty
or unknown variation in plant parameters and structures. If y lj (l =
are reviewed. A new adaptive fuzzy control approach based on sliding
mode is presented in Section III. Derivation of fuzzy rules is given
in Section IV. An illustrative example is given in Section V. Finally, 1; 1 1 1 ; M ) in (2) are chosen as free parameters, the above fuzzy
Section VI concludes the paper. system becomes an adaptive fuzzy system. It should also be noted
that the system could also be viewed as the type of neural network
shown in Fig. 1.
Equation (2) can be rewritten as
II. PRELIMINARIES
M
yj = ylj g (x) = W Tj g (x)
A. Description of an Adaptive Fuzzy System l=1
A fuzzy system consists of three parts: fuzzifier, fuzzy inference p
engine working on fuzzy rules, and defuzzifier. A (xi )
The fuzzifier maps an input point in the input space U 2 Rn to g (x) = M i=1p (3)
a fuzzy set Ax in the input space. Fuzzy sets are characterized by
A (xi )
their membership functions (1)0 s: The inference engine performs l=1 i=1
a mapping from fuzzy sets in the input space to fuzzy sets in the
output space V 2 Rm based on fuzzy rules. Finally, the defuzzifier where g (x) = (g1 (x); 1 1 1 ; gM (x))T 2 RM is called the fuzzy
maps fuzzy sets in the output space V into a crisp output value. It basis function vector or the antecedent function vector, and W j =
is assumed that U = U1 2 1 1 1 2 Un ; Ui 2 R for i = 1; 1 1 1 ; n and 1 M T 2 RM is called the parameter vector. The fixed
(y j ; 1 1 1 ; y j )
V = V1 2 1 1 1 2 Vm ; Vj 2 R for j = 1; 1 1 1 ; m: nonlinear mapping in the hidden layer is gl (x ) defined in (3). The
There are many choices for each part of a fuzzy system, therefore, adjustable weights are y lj : It has been proved that the adaptive fuzzy
a particular fuzzy system could be any combination of these choices. system can approximate any real continuous function over a compact
Here we consider the following fuzzy system. set to arbitrary accuracy [13].
IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS—PART B: CYBERNETICS, VOL. 29, NO. 4, AUGUST 1999 663

B. Mathematical Model for an n-Link Robot Manipulators Let

Consider the dynamic equation of a robot manipulator f (') = (f1 ('); 1 1 1 ; f (')) n
T

M (q )q + C (q; q_ )_q + G(q ) + F (q ; q_ ) = u(t) (4) = C (q ; q_ )_q + G(q ) + F (q ; q_ ) + M (q )q 2 R

d d d d d d d d
n

u(t) = u (t) + u (t) 2 R (9) n

where q ; q_ 2 Rn are the vectors of generalized coordinates and

e n

velocities, M (q ) 2 Rn2n the positive inertia matrix, C (q ; q_ )_q 2 Rn where ' = (q ; q_ ; q ) ; K is a positive definite matrix. u (t) =
T T T T
e

(u 1 (t); 1 1 1 ; u (t)) 2 < denotes the fuzzy control component

d d d

the Coriolis and centrifugal torques, G(q ) 2 Rn the gravitational

T n
e en

torques, u(t) 2 Rn the applied torque. F (q ; q_ ) is the unstructured un- for compensating for the nonlinear function, f (') and u (t) is n

certainties of the dynamics including friction and other disturbances,
which is assumed to have a particular form as
F (q ; q_ ) = F q_ + F (q )
v s (5)
the nonlinear control component used to stabilize the closed-loop
system and enhance the system robustness against the fuzzy system
approximation errors.
Substituting (9) into (8) yields

where F v q_ is the viscous friction, in which F v is a constant positive M (q )S_ = M (q )3q~_ + (u (t) 0 f (')) + Q + u (t) e d n (10)
definite matrix defined by Fv;m  jjF v jj  Fv;M ; and F s (q ); the with
remaining part of the unstructured uncertainty, is assumed to be the
continuous function of the robot joint angles. The following properties Q = (M (q ) 0 M (q ))q + C (q ; q_ )_q
d d d d d d

are required for the subsequent development. 0 C (q; q_ )_q + G(q ) 0 G(q ) + F (q ; q_ ) 0 F (q ; q_ ):
Property 1: M (q ) is a positive symmetric matrix defined by
d d d

Mm  jjM (q )jj  MM with Mm ; MM > 0 being known constants. In fuzzy sliding mode control, the following fuzzy implications
Property 2: C (q ; q_ ) defined by using the Christoffel symbols, [2], [4] are used to find the control uei (t) (i = 1; 1 1 1 n)
satisfies that R: IF (si is Ali;1 and s_ i is Ali;2 ) THEN (uei is Bil )
• M _ (q ) 0 2C (q ; q_ ) is skew symmetric; l

• jjC (q ; q_ jj  CM jjq_ jj and C (q ; x)y = C (q ; y )x; x; y 2

(l = 1; 1 1 1 ; N ) i (11)
Rn ; CM > 0. where Ni is the number of rules for the ith joint of the robot, Ali;j and
The norm of a vector x = (x1 ; 1 1 1 ; xn )T 2 Rn and that of a Bil (i = 1; 1 1 1 ; n; j = 1; 2) are labels of fuzzy sets in the subspace
matrix A = (ai;j ) 2 Rn2n are defined respectively as Ui and Vi ; described by membership functions uA (si ); uA (_si );
p and B (uei ):
jjxjj = x x; jjAjj = eig (A A)max
T T
Referring to Section II, the control ue (t) can be represented in the
form of the fuzzy basis functions as
with eig (1)max the maximum eigenvalue. For any positive definite
symmetric matrix A(x) and for any x; let Am and AM denote the u (t) = y (x)W ; u = W y (s ; s_ )
e
T
(12) ei
T
i i i i

minimum and maximum eigenvalue of A(x); respectively.

where W = (W 1 ; 1 1 1 ; W
i i; ) 2 R is the weighting matrix
i;N
T N

vector, y (x) = (y 1 (s ; s_ )); 1 1 1 ; y i; (s ; s_ ) 2 R the fuzzy

i i i;N i i
T N

basis function vector, y (x) = diag (y 1 (x); 1 1 1 ; y (x)); W =

i
III. FUZZY SLIDING MODE CONTROL
(W 1 ; 1 1 1 ; W ) 2 R with N = 6 =1 N ; x =
n
T T T N n
In this section, a fuzzy adaptive controller design approach based n i i

on sliding mode will be developed for robot control. The goal is (s1 ; 1 1 1 ; s ; s_ 1 ; 1 1 1 ; s_ ) 2 R2 :
n n
T n

to design a control law u(t) which ensures that the robot joint Because f (') is a function of variables q ; q_ ; and q ; the inputs d d d

displacement q (t) follows the desired trajectory q d (t): The adaptive of the fuzzy system should be variables q ; q_ ; and q ; for the sake of d d d

fuzzy controller based on sliding mode is derived in two steps. First,
the adaptive fuzzy approximator is introduced for robot nonlinear
dynamics. Then a composite adaptive fuzzy sliding mode control
approach is proposed.
A. Fuzzy Approximator for Robot Nonlinear Dynamics
The switching hyperplane for robot defined in (4) is chosen as
S = q_ 0 q_ = 0
r
approximation. In the following theorem, we will prove that the fuzzy
system with the system RP and its derivative as the input variables
can approximate the nonlinear function f (') in the neighborhood
of the hyperplane. To complete the proof, the following assumptions
are made.
1) The sliding mode is reachable.
2) The function f (') is smooth.
3) un jx=0 = 0:
(6) Theorem 1: In the neighborhood of the switching hyperplane, the
output of the fuzzy system ue (t) = y T (x)W can approximate the

where q_ = q_ 0 3q~ is defined as a reference velocity vector, nonlinear function f ('):

q~ = q 0 q is the tracking error vector, q is the desired trajectory,
r d
Proof: When the system state trajectories reach and remain in
the switching hyperplane, S = S_ = 0 or equivalently x = 0:
d d
and 3 is a positive definite matrix whose eigenvalues are strictly in
the right-hand complex plane. It is assumed that Substituting x = 0 into (10) and using Assumption 3, we get

V = sup jjq_ (t)jj; A = sup jjq (t)jj

M d M d (7) u (t)j
e x=0 = f (')j =0 e (13)

= (~q ; q~_ ) : Using the mean-value theorem and (13), we

t t
with e T T T

It follows from (4) and (6) that have

M (q )S_ = M (q )(q 0 q ) r jju (x) 0 f (')jj  jju (x) 0 u (x)j =0jj
e e e x

= u(t) 0 C (q ; q_ )_q 0 G(q ) 0 F (q ; q_ ) 0 M (q )q : r + jjf (') 0 f (')j =0 jj e

(8)  jj@ (y (x)W )=@xxjj1 jjxjj: T

(14)
664 IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS—PART B: CYBERNETICS, VOL. 29, NO. 4, AUGUST 1999

Since f (') and u (x) and are both bounded continuous functions,
e defined by
jj@ (y (x)W )=@xxjj1 is a finite number by choosing the antecedent
T

usig (s )
i

if jsi =wi j  1
function vector of fuzzy control rules properly. Hence, a neighbor-
hood of the switching hyperplane N (0;  ) = (x: jjx jj   ) exists sgn (si )
where the nonlinear function vector f (') can be approximated by
(2si 0 3wi sgn (si ))(3si 0 wi sgn (si )) sgn (s );
ue (t) in an appropriate precision. 2(4s2i 0 6wi jsi j + wi2 ) i

1
if  jsi =wi j < 1
Remark 1: A fuzzy sliding mode control system usually use = 2
fuzzy inference rules with the system RP and its derivative as si (2si 0 wi sgn (si )) sgn (s );
linguistic input variables to provide an estimate of the unknown 2(4si2 0 2wi jsi j 0 wi2 ) i

system dynamics. Along with the approach of the system RP to 1

the switching hyperplane, a higher precise estimate of the unknown
system dynamics will be required for a better control performance
such as attenuation of chattering, stable tracking precision, etc.
The reason for this is that in the neighborhood of the switching
hyperplane, a rough estimate will affect the system behavior badly
while at a large distance, the influence is not evident [14]. Theorem
1 provides a basis for further simplifying the design of fuzzy sliding
mode controller and improving its control performance.
Remark 2: In the neighborhood of the switching hyperplane, the
approach velocity of the RP to the switching hyperplane is usually
very small and almost near zero. In such a case, a fuzzy system
with only the RP as linguistic input variable will be enough for
approximating the unknown system dynamics, and thus the design of
the fuzzy sliding mode controller can be further simplified. Another
merit of this simplification is that the measurement of the acceleration
signal of the robot will not required in the controller design, which
is very helpful for practical application.
if 0  jsi =wi j < :
2 (18)
The nonlinear control component un (t) is chosen as
un (t) = 0K S 0 (1 0 m(t))k^musig (S ) 0 m(t)us sgn (S )
(19)
where K = K > 0 is the positive definite matrix, k
T ^m the estimate
of km and k~m (k) = km 0 k^m : us = diag (us1 ; 1 1 1 ; usn ) is the gain
matrix, and usig (S ) = (usig (s1 ); 1 1 1 ; usig (sn ))T : Then the whole
control law can be represented as
u(t) = 0K S + (1 0 m(t))(0k^ usig (S ) + y (x)W^ )
T
m
0 m(t)u sgn (S ) s (20)
^ ~ = W 0 W^ :
where W is the estimate of W ; and W
Substituting (20), (17) into (10) yields
M (q )S_ = 0K S + M (q )3q~_ 0 (1 0 m(t))
1 (y (x)W~ + "(x) + k^ usig (S )) + Q
T
m d

0 m(t)(u sgn (S ) + f (')): s (21)

B. Adaptive Fuzzy Sliding Mode Control
Based on above discussions, we will develop a complete architec-
ture of adaptive fuzzy sliding mode controller. Similar to [15], the
state space of the fuzzy system is divided as:
0d = fS j jjS jjP;w  d g
0s = fS j jjS jjP;w > s g
0ds = fS jd < jjS jjP;w  s g
where d ; s represent the spherical radii of the approximation
regions, jj(1)jjP;w is a weighted P -norm, defined as jjS jjP;w =
The following theorem gives a stable learning law, and guarantees
the asymptotic stability of the system.
Theorem 2: Consider the n-link rigid robot manipulator described
by the dynamic model given in (4), by applying the control law (20)
with the fuzzy system learning algorithm
W^_ = 0(1 0 m(t)) (y (x)S + 1 (W^ 0 W 0 )) (22)
(15)
and the bound estimate algorithm
k^_ = (1 0 m(t))001 (S usig (S ) 0 2 (k^ 0 k 0 ))
T
(23)
m m m

max (s1 =w1 ; 1 1 1 ; sn =wn ) (P = 1); w = (w1 ; 1 1 1 ; wn )T is the where  = diag (1I ; 1 1 1 ;  I ) is learning rate matrix with
N n N

weghting matrix. 0d is chosen as the neighborhood of the switching  > 0; 1 > 0; 2 > 0; and W 0 ; k 0 are design parameters. If the
i m

hyperplane, and an adaptive fuzzy control is adopted within 0d : A following conditions hold
composite control law, which is the smooth integration of the adaptive
fuzzy control and the sliding-mode control, is used in the transition
K > 31 M + 2C V + C jjz 0 jj P =P
m ;M M M M M M m

region 0ds : As the system RP approaches 0s ; the magnitude of the + 12 F + 32 a4 v;M (24a)
adaptive fuzzy control decreases gradually, while the sliding mode u > jf (')j (i = 1; 1 1 1 ; n)
si i (24b)
control becomes increasingly dominant. Finally, as the RP enters 0s ;
where z = [S ; (3q~) ; W
T ~ ; k~ ] ; z 0 = z (0); a4 = (a1 A +
T T T

3 a V 2 + a )301 ; and
m M
only the sliding mode control is employed. With these definitions,
one possible choice for a modulation function is 2 2 M 3 m

@ Col [M (q )] n

m(t) = max 0; sat jjSjj 0 0  a1 = sup j

s
p;w

d
d
(16) 2 =1 @qq
q R
j

where sat (1) is a saturation function. a2 = sup @ Col [M (q )] n n

j i

With Theorem 1 and (10), there exists W = (W 1 ; 1 1 1 ; W )

T T
n
T
in 2 =1 =1 q R @qq i j

0d such that
a3 = sup @G G(q ) + sup @FF (q )
@qq @qq
s

2 2
f (') = y (x)W + "(x)
T
(17)
@M
M (q )
q R q R

M (q) = @q
i (25)
where "(x) is the approximation error which satisfies limx!0 "(x) = i

0: It is assumed that j"i (x)j  km jusig (si )j; where km is the gain with qi the ith component of the vector q ; then the tracking error
coefficient, usig (si ) (i = 1; 1 1 1 ; n) is the sigmoid function [11], metric of the robot is uniformly ultimately bounded.
IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS—PART B: CYBERNETICS, VOL. 29, NO. 4, AUGUST 1999 665

Proof: The following Lyapunov function candidate is consid- TABLE I

ered FUZZY CONTROL RULES FOR THE J TH JOINT

V = 12 S M (qq)SS + 12 q~ 3(2K
T
K 301 0 M (qq))33q~ T

+ 12 W~  01W~ + 12 0 k~2
T
m (26)

which satisfies 12 P z z  V  12 P z z with

m
T
M
T

P = min (M ; 2K 301 0 M ; 01; 001)

m m m M M M

P = max (M ; 2K 301 0 M ; 01; 001 ):

M M M m m m

Using Properties 1 and 2, it is easy to obtain

V_ = 12 S M_ (qq)SS + S M (qq)S_ + q~ 3(2K

T T
K 301 0 M (qq)) T

1 3q~_ 0 12 q~ 3M_ (qq)33q~ 0 W^_  01W~ Remark 3: In Theorem 2, the design parameter W 0 can be con-
T
T

sidered as an initial estimate of the unknown weight W ; allowing

0 0k~ k^_ m m the designer to incorporate any prior parameter knowledge that may
= 0q~_ K q~_ 0 q~ 3K 3q~ + q~_ C (qq; q_ )q~_ + q~_ C (qq; q_ )
T T T T
be available through fuzzy control rules or other methods. As shown
in (31), the closer W 0 is to its true value, the smaller the residual
1 3q~ + q~_ M (qq)33q~_ 0 ((1 0 m(t))SS y (xx)
T T T

tracking error becomes. Besides, the adaptive law (22) incorporates a

+ W^_  01 )W~ + k~ ((1 0 m(t))SS usig (SS ) 0 0 k^_ ) leakage term based on a variant of the  -modification, which prevents
T
T
m m

+S Q : T
d (27) drift of the fuzzy system parameters.

It is easy to prove that IV. DERIVATION OF FUZZY RULES

S Q  a4 jjq~_ jj jj3q~jj + a4 jj3q~jj 0 q~_ F q~_ + F jjq~_ jj

T
d
2 T
v v;M
In this section, we focus on how to select fuzzy control rules by
using the reaching condition of sliding mode control. Consider the
1 jj3q~jj 0 q~_ C (qq; q_ )q~_ 0 q~ 3C (qq; q )q~_ 0 q~_
T
d
T
d
T
following Lyapunov function candidate
1 C (qq; q_ )q~_ 0 q~ 3C (qq; q_ )q~_ : T
(28)
V0 (SS ) = 12 S M (qq)SS
T
(32)
Substituting (22), (23), and (28) into (27) gives Following the inference of Theorem 2, we have
V_  0jjS_ jj 0  jj3q~jj 0 (1 0 m(t))2W~ (W
2
W 0 0 W^ )
2 T n

~ ^ V_ 0 (SS )  s (u 0 f (')):
0 (1 0 m(t))1k (k 0 0 k ) j ej j (33)
m (29)
m m j =1

with It can be observed in (33) that if s > 0; then negative u with

u  0jf (''j will be sufficient to make V_ 0 (SS ) more negative, if
j ej

 = k 0 M 3 0 2C V 0 4 0 F
m M M M M
3
2
1
2 v;M
ej j

s < 0 then positive u with e  jf ('') will also result in the

negativeness of V_ 0 (S
j ej ej j

0 C P =P jjz (0)jj;
M M m S ) sufficiently. Based on this and considering
the influence of s_ ; fuzzy control rules can be easily obtained for
 = M 3 + C V + C P =P jjz (0)jj:
M M M M M M m
j

the reaching of the sliding mode. For examples, if s is fPBg; s_ is j j

By completing the square, it can be shown that fPBg; this means that the RP moves away from the hyperplane at
a positive speed, then u must be fNBg in order to decrease s_ :
01W~ (WW 0 0 W^ )
ej j
T
Similarly, we can obtain other rules as shown in Table I, where PB-
= 0 2 2W~ W~ 0 2 1 (W^ 0 W 0 ) (W^ 0 W 0 )
1 1 T Positive Big, PM-Positive Medium, Z-Zero, NM-Negative Medium,
T

NB-Negative Big. Thus, there are 25 rules for each joint of the robot,
W 0 0 W ) (W
+ 12 1 (W W0 0 W) (30a) 25n rules in all for an n-link robot. Referring to Remark 2, if the
T

02k~ (k 0 0 k^ )
m m m linguistic term for s_ is assumed to be zero, we only require 5 rules j

1 ~ 1 ^
= 0 2 2 k 0 2 2 (k 0 0 k ) + 2 2 (k 0 0 k ) :
2 2 1 2 for each joint of the robot, 5n rules in all for an n-link robot.
m m m m m

(30b)
V. APPLICATION
Substituting (30a) and (30b) into (29) leads to In this section, the proposed control approach is applied to the
V_  0jjS jj2 0  jj3~q jj2 0 12 (1 0 m(t))1 jjW~ jj2 position control of a two-link manipulator. The dynamical equation
and parameters of the manipulator are the same as those in [16]. The
0 12 (1 0 m(t))2k~2 + m desired joint trajectories to be tracked are
 0V=P + M (31) q1 (t) = 12 (sin t + sin 2t); q2 (t) = 12 (cos 3t + cos 4t):
d d

with (34)

 = min (2; 2; (1 0 m(t))1 ;(1 0 m(t))2 ) The switching surfaces are chosen as

= 12 (1 0 m(t))(1 jjW 0 0 W jj2 + 2 (k 0 0 k )2 ): m m s1 = 1 q~1 + q~_ 1 = 0; s2 = 2 q~2 + q~_ 2 = 0: (35)

From (31), we can conclude that jjS jj will eventually fall into a Simulations are performed using a fourth-order Runge–Kutta al-
residual set with size O( ); this concludes our proof. gorithm with an integral step of 0.001 s. The controller sampling
666 IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS—PART B: CYBERNETICS, VOL. 29, NO. 4, AUGUST 1999

Fig. 2. Angle tracking error responses with random value weights. Fig. 3. Angle tracking error responses with consequent label weights.

interval is 0.005 s. The design parameters are 1 = 2 = 40: The

fuzzy control rules in the form of (11), with only si as linguistic
input variable and s_ i assumed to be zero, are chosen according to
Table I, there are 10 rules in all. The linguistic variable, Ai;
l
1 ; Bj (i =
l

1; 2; j = 1; 2) = fPB; PM; Z; NM; NBg: The membership functions

are chosen as

sPB;NB f0(s 6 1:25)2=0:872 g

= exp i

Z = exp f0s2 =0:522 g

s
i

PM NM = f0(s 6 0:75)=0:662 g

s
; i (i = 1; 2) (36)

In addition, choose

jjS jj P;w j j=4; js2 j=4);

= max ( s1 d = 1:0; s = 1:12;

K = diag (25; 25); o = 0:8; 1 = 2 = 0:001;

km0 = 0;  = diag (45; 45); us = diag (50; 50): Fig. 4. Angle tracking error during the last 10 s of 100 s operation.

The initial robot state vector was

q1 (0) = 1:0; q_(0) = 0; q2 (0) = 1:0; q_2 (0) = 02:0

Figs. 2 and 3 represent the angle tracking error responses with

respect to the different initial weights W 0 ; one for random values
in [0, 1], and the other for fuzzy rule consequent labels where the
consequent label set fPB; PM; Z; NM; NBg corresponds to (100, 60,
0, 060; 0100) for two joints. It can be seen that the adaptive speed
became much faster with the initial weights determined by the rule
consequent labels. Fig. 4 is the tracking errors during the last 10 s
of 100 s operation.
To study the contribution of the adaptive fuzzy system based on
sliding mode, Fig. 5 shows the angel tracking error responses with
u = 0K S only. It is clear that the addition of the adaptive fuzzy
system make a significant improvement in the tracking performance.
Fig. 5. Angle tracking error responses without the adaptive fuzzy control.
VI. CONCLUSIONS
A new adaptive fuzzy controller based on sliding mode is proposed proved by Lyapunov techniques. The simulation results show that
in this paper for the trajectory tracking of robot manipulators with the fuzzy approximator with only the RP as linguistic input variable
unknown nonlinear dynamics. We provide a theoretical justification is enough for approximating the unknown system dynamics in the
for the fuzzy approximator by proving it is capable of approximating neighborhood of the switching hyperplane, which provides a new
the robot nonlinear dynamics in the neighborhood of the switching alternative for further simplifying the design of fuzzy controllers.
hyperplane if the RP and its derivative are used as its inputs. Besides after incorporating the linguistic information into the fuzzy
As a result, the fuzzy controller design can be greatly simplified. controller, the adaptation speed became much faster, and a better
The system global stability and the tracking error convergence are control performance is obtained.
IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS—PART B: CYBERNETICS, VOL. 29, NO. 4, AUGUST 1999
ACKNOWLEDGMENT
The authors are grateful to reviewers for their insightful comments
and suggestions.
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1083–4419/99$10.00  1999 IEEE
667
Considerations About Sample-Size Sensitivity of
a Family of Edited Nearest-Neighbor Rules
Francesc J. Ferri, Jesús V. Albert, and Enrique Vidal
Abstract— The edited nearest neighbor classification rules constitute
a valid alternative to k -NN rules and other nonparametric classifiers.
Experimental results with synthetic and real data from various domains
and from different researchers and practitioners suggest that some editing
algorithms (especially, the optimal ones) are very sensitive to the total
number of prototypes considered. This paper investigates the possibility
of modifying optimal editing to cope with a broader range of practical
situations. Most previously introduced editing algorithms are presented in
a unified form and their different properties (and not just their asymptotic
behavior) are intuitively analyzed. The results show the relative limits in
the applicability of different editing algorithms.
Index Terms—Edited NN rule, nearest neighbors (NN), nonparametric
classification, prototype selection,
I. INTRODUCTION
The k-nearest neighbor (k-NN) classification rule consists of
finding the k nearest neighbors to each target point according to
a certain dissimilarity measure (not necessarily a distance) and
making a decision according to the (known) classification of these
k neighbors, usually by assigning the label of the most voted class
among these neighbors. A trivial case of this rule is when k = 1, in
which each point is assigned to the same class as its NN.
Regardless of the measure used, the asymptotic classification error
of the k-NN rule (when the number of prototypes, n, tends to infinity)
!1 !
tends to the Bayes error rate, R3 , as k and k=n 0.
If k = 1, the error is bounded by approximately 2R3 [1]. This
behavior in classification performance combines with the simple
and comparatively inexpensive training (in terms of computational
burden) which only requires gathering correctly classified prototypes,
to make a powerful classification technique capable of dealing with
arbitrarily complex problems, provided there is a large enough set of
prototypes available.
In spite of this quality in performance and training requirements,
the NN rules also exhibit some practical disadvantages. An obvious
drawback comes from the impossibility of having a sufficiently large
number of prototypes to achieve (near) optimal results in practice
because there is no way of fulfilling the requirements for k and
n at the same time. On the other hand, in the (fortunate) case of
having large sets of prototypes, it necessarily implies a significant
computational burden to find the (k)-nearest neighbor(s) and makes
the NN methods inapplicable for problems in which dissimilarity
calculation is a time-consuming procedure in itself. In order to
overcome these drawbacks, a number of different approaches have
already been proposed, e.g., fast searching algorithms [2], weighted
NN rules [3], optimal distance measures [4], and prototype selection
techniques [1].
Manuscript received April 14, 1999. This work was supported in part by
Projects TIC98-677-C02-02 and 1FD97-279. This paper was recommended
by Associate Editor K. Pattipati.
F. J. Ferri and J. V. Albert are with the Department Informàtica i
Electrònica, Universitat de València, 46100 Burjassot València, Spain.
E. Vidal is with the Department Sistemi Informàtics i Computació, Univer-
sitat Politècnica de València, 46100 Burjassot València, Spain.
Publisher Item Identifier S 1083-4419(99)07950-9.