International Journal of Computer Science Issues
In this paper the authors develop a design methodology of sliding mode ANFIS-based Multi-Inputs Multi-Outputs (MIMO) Fuzzy Neural Network (AMFNN) control for robotic systems. This control system consists of a Sliding Mode (SM) controller and an AMFNN controller. The SM controller is used to deal with uncertain parts of system dynamics and external disturbances and the AMFNN controller is served as a controller approaching the ideal controller of SM controller to stabilize the system. The ANFIS-based laws of the AMFNN parameters are derived so that the stability and convergence of the system's parameters of AMFNN can be guaranteed.