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A robust fuzzy logic controller for robot manipulators with uncertainties

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2 Author(s)
Soo Yeong Yi ; Div. of Mech. & Control Syst., Korea Inst. of Sci. & Technol., Seoul, South Korea ; Myung Jin Chung

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

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Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on  (Volume:27 ,  Issue: 4 )