This paper, inspired by works [23-24], aims at designing two direct adaptive fuzzy sliding mode controllers with and without universe adjustment mechanism for a class of MIMO nonlinear systems with unknown dynamic including boundary of the control gain matrix. Firstly, fuzzy systems are employed to approximate the equivalent control. Secondly, the chattering can be alleviated due to the fuzzy switching technique. The parameters of fuzzy system are adjusted online based on Lyapunov steady theory. At last, the proposed controllers are applied to the trajectory tracking control of robotic manipulators. Simulation results demonstrate the proposed control schemes are effective for nonlinear system and the system output can track the desired input asymptotically. Take into account the available results, the main contributions of this paper are:
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