In this note, an adaptive controller for the robot menipulator which has the parametric uncertainties in its dynamic model is designed. In order to compensate this uncertainties, we use the fuzzy logic that has the capability to approximate any nonlin...
In this note, an adaptive controller for the robot menipulator which has the parametric uncertainties in its dynamic model is designed. In order to compensate this uncertainties, we use the fuzzy logic that has the capability to approximate any nonlinear function with the compact input space. The stability of the proposed control scheme is proved and the adaptive law are derived by using Lyapunov stability theory. The validity of this controller is shown through the computer simulations of two-link rigid robot manipulator.