One dop robot manipulator control throught type-2 fuzzy robust adaptive controller

Abstract

In this article,the one DOF robot manipulator control is assessed through second type robust fuzzy-adaptive controller. The objective is to obtain a tracking path with appropriate accuracy. The stability of the closed loop system is verified through Lyapunov stability theory and the efficiency of tracking is analyzed subject to the constraints and uncertainty. In order to design the fuzzy controller a set of if-then fuzzy rules are considered which describe the system input-output behavior. simulation and the results of the experiments on the one DOF robots indicate the effectiveness of the proposed methods.