An intelligent fuzzy sliding mode control for 2-dof parallel robot which derived by AC servo motor was designed.

针对以交流伺服电机驱动的二自由度并联机器人，设计了智能模糊滑模控制算法。

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Convergent condition was given and validated. The simulation results of the inverse kinematics of 2-dof planar robot arm prove that CA-CMAC converges more rapidly than traditional CMAC.

通过二自由度平面机器人臂逆动力学求解的仿真，比较了CA - CMAC与传统CMAC的性能，结果表明，CA - CMAC具有更快的收敛速度。

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