M.I. EL-Hawwary and A.L. Elshafei
Adaptive fuzzy control, feedback linearization, fuzzy disturbance observer
The authors apply adaptive fuzzy control to a two-link robot arm. The algorithm presented is valid for a general class of feedback linearizable (FBL) multi-input multi-output (MIMO) systems. This scheme utilizes a fuzzy disturbance observer scheme to monitor a total plant disturbance term including both plant uncertainties and external disturbances. It is proved that the observation and tracking errors are uniformly ultimately bounded within an arbitrary small region. Simulation results show satisfactory performance for tracking control.
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