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,he 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.