Fuzzy Disturbance Rejection Control of Two Link Robot Manipulator

Abstract

It is well known that robotic manipulators are nonlinear coupling dynamic systems. The control strategy is fuzzy logic technique to cope with the model parameter disturbances. The simulation is implemented to verify the effectiveness of the proposed fuzzy control policy. From the simulation results, strong robustness, fast response, good disturbance rejection capability and good tracking capability can be obtained. It is also illustrated from simulation results that the proposed control technique is valid for the two-link robot manipulator.