OGY control fuzzification of tow-link rigid robot arm

In this article, we proposed an OGY controller which have been progressed with some fuzzy rules definition and applied for two-link rigid robot arm. By applying a proper input this robot arm could be in a chaotic space. To obtain a complete database, the input amplitude is varied in chaotic range, afterward the unstable period orbits (UPOs) of the plant, by using the Poincare map, and the convenient gains, are found. To achieve the fuzzy set, maximum changed value of UPOs, which can be controlled with the computed gains, are obtained. So, we have a lot of fuzzy regions a round of UPOs with the definite controlling rules. These regions should be overlapped and covered all spaces between two nearer fixed-points. By this way, the system could be controlled by routing the best path with considering the lowest consumption through the UPOs.