Description: Abstract—Owing to load variation and unmodeled dynamics, a robot
manipulator can be classified as a nonlinear dynamic system with structured
and unstructured uncertainties. In this paper, the stability and
robustness of a class of the fuzzy logic control (FLC) is investigated and a
robust FLC is proposed for a robot manipulator with uncertainties. In order
to show the performance of the proposed control algorithm, computer
simulations are carried out on a simple two-link robot manipulator
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1997FLSROBOTIEEE_T_SMC.pdf
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