A robust fuzzy logic controller for robot manipulators with uncertainties

Abstract

Owing to load variation and unmodeled dynamics, a robot manipulator can be classified as a nonlinear dynamic system with structured and unstructured uncertainties. In this paper, the stability and robustness of a class of the fuzzy logic control (FLC) is investigated and a robust FLC is proposed for a robot manipulator with uncertainties. In order to show the performance of the proposed control algorithm, computer simulations are carried out on a simple two-link robot manipulator.