Decentralized fuzzy variable-structure control for manipulators

The trajectory tracking system of robot manipulators was considered as the complex uncertain system consisted of a set of linear subsystems and nonlinear interconnections. The decentralized fuzzy variable structure control method was proposed. The control method enables the system states to track desired trajectories with high precision. By using the fuzzy control rules in the decentralized variable structure control system, the chattering problem, which exist in most variable structure systems, is subdued, and the system robustness to unmodeled uncertainties and external disturbances is improved. The control algorithm is simply, feasible and easy to implementation.