A Nonlinear Robust Control Using a Fuzzy Reasoning and Its Application to a Robot Manipulator

A simplified adaptive nonlinear robust controller (SANROC) has beenstudied in the literature. However, this is based on using the so-calledmatching condition. The present controller is not based on using such acondition. The estimate of an upper bound for uncertainties is usuallyincreased by using the adaptive mechanism, e.g., by consisting of amonotonically increased function. In this paper, instead of using such ananalytically adaptive mechanism, a fuzzy reasoning technique is alsoincorporated with the adaptive mechanism of SANROC. The proposed method isapplied to a pantagraph type robot manipulator. The effectiveness of thepresent method is illustrated by some experiments.