A robust model-based fuzzy-logic controller for robot manipulators

This paper presents a fuzzy-logic control structure, containing the fuzzy-logic model of the dynamic system and fuzzy control rules that ensure the stability and robust performance. The robust fuzzy rules are designed based on a generalized formulation of sliding mode control for a class of nonlinear multi-input multi-output systems. The proposed fuzzy-logic control scheme was applied to the trajectory control of a four-degree-of-freedom robot, and compared with the high-gain PID controllers. A superior tracking performance was achieved.