Robust nonlinear control of robot manipulators

A new nonlinear manipulator control scheme is proposed in this paper which is robust against modeling errors and unknown disturbances. It is based on the principle of sliding mode control (SMC) but with the application of fuzzy logic control (FLC). The control method provides a simple way to achieve asymptotic stability of the system. In addition, the method can not only overcome the chattering problem caused by sliding mode control, but also determine the rules and parameters for fuzzy logic control. Experimental results are presented to verify the theoretical derivations