On the implementation of a fuzzy variable structure control

Recently, a new robust control algorithm was developed at the Advanced Systems Laboratory. This algorithm extended the variable structure control design to include fuzzy systems and is called fuzzy variable structure control (FVSC). To apply the newly developed algorithm, uncertain nonlinear dynamical systems have been interpreted as fuzzy systems and modeled by fuzzy differential equations. This algorithm was previously applied to the control of a single arm robot using a suboptimal algorithm. This paper extends the previous work to a two joint robot arm and implements it using a computationally optimized algorithm. The simulation and preliminary experimental results are presented at the end.