Decentralized Fuzzy Variable-Structure Control for Manipulators

A decentralized fuzzy variable-structure control is presented for trajectory tracking of robot manipulators. Considering the overall system as a set of linear subsystems with nonlinear uncertainties and interconnections, the tracking problem is tackled by decentralized control method. The proposed control approach enables the system states to track desired trajectories with high precision. Moreover, by using fuzzy control concept in variable-structure system, the chattering problem which exists in most variable-structure systems is subdued, and the system robustness to unmodelled uncertainties and external disturbances is improved. The approach is simple for real-time implementation. Simulation results are presented to validate the conclusions.