Adaptive Fuzzy Dynamic Surface Control with Sliding Mode Control for Enhanced Trajectory Tracking of Delta Robots

This paper proposes an Adaptive Fuzzy Dynamic Surface Sliding Mode Control (AFDSC-SMC) method, specifically designed for precise trajectory tracking in a three-degree-of-freedom (3-DOF) Delta robot. By integrating Dynamic Surface Control (DSC) with Sliding Mode Control (SMC), the proposed approach effectively mitigates chattering, ensuring smooth control actions and enhanced tracking accuracy. An adaptive fuzzy logic mechanism is incorporated to dynamically adjust control parameters, thereby improving robustness against uncertainties and external disturbances. The stability of the closed-loop system is rigorously analyzed using Lyapunov theory, guaranteeing input-to-state stability (ISS). To validate the effectiveness of the proposed method, extensive simulations are conducted in MATLAB/Simulink across various trajectory scenarios. The performance of AFDSC-SMC is compared with that of traditional DSC and Backstepping Sliding Mode Control (BSP-SMC) under conditions involving disturbances and variations in model parameters. Simulation results demonstrate that AFDSC-SMC achieves stability within 0.15 s for three joints without overshooting. Furthermore, the proposed controller minimizes steady-state tracking errors to zero, delivering smooth control inputs within a range of +/- 15 Nm, outperforming conventional DSC and BSP-SMC. Quantitative visualizations further highlight that AFDSC-SMC significantly enhances trajectory tracking performance, providing precise end-effector positioning and robust operation in high-speed automation applications.