Fuzzy logic control of an uncertain manipulator with full-state constraints

In this paper, a fuzzy logic control strategy is proposed for solving trajectory tracking control issues of an uncertain manipulator. Fuzzy logic is utilized to compensate for manipulator dynamics uncertainties and full-state constraints are involved in full-state feedback controller design. The proposed method can guarantee error signals in closed-loop system semi-globally uniformly bounded (SGUB). In view of safe operation, tangent barrier Lyapunov functions (tBLFs) are chosen to maintain full states in a predefined constrained region in tracking processes. Finally, simulation results are carried out to show the effectiveness of our proposed control strategy.