This paper introduces a new type of robust designing algorithm with fuzzy architecture for a variable structure control system whose inputs and outputs are differentiable with respect to uncertain parameters of system. This novel method entitled adaptive fuzzy attraction region (AFAR). Then, an application of this new algorithm (AFAR) for a MIMO nonlinear manipulator is presented. To demonstrate the advantages of this new method to the pure fuzzy method and FSMC method vast simulations and mathematical criteria for different inputs having parameter uncertainties are considered. The obtained results show the high efficiency of this new method beside their disadvantages in comparison to each other.
['R. Esmaeilzadeh', 'M. Amjadi', 'Hamideh Eskandari', 'Sohrab Khanmohammadi']
Introducing Adaptive Fuzzy Attraction Region (AFAR)