Indirect Robust Adaptive Fuzzy Control of Uncertain Two Link Robot Manipulator

This paper presents an adaptive fuzzy logic modeling and control of two link robot manipulator with uncertainties. To estimate the uncertain parts of the process, fuzzy logic systems are used. The uncertain nonlinearities of the system are captured by fuzzy systems that have been proven to be universal approximators. The proposed control scheme completely overcomes the singularity problem that occurs in the indirect adaptive feedback linearizing control. Projection in the estimate parameters is not required and the stability analysis of the closed-loop system is performed using Lyapunov approach. Simulation results are provided to verify the effectiveness of the proposed design.