Robust fuzzy logic control of mechanical systems (Q1869732)

This paper is dedicated to the description of mechanical fuzzy control systems on the example of the two-link planar robotic arm. The authors state that the suggested new robust controller has no chattering significantly smaller tracking errors and exhibits faster convergence compared to other control laws. The authors also state that fuzzy logic implementations are superior in tracking accuracy compared to non-fuzzy implementations. They used a Lyapunov stability technique.