Robust adaptive fuzzy control and strategy of avoidance of obstacles for a manipulator arm to serve the people Disabilities

This article concerns the robust adaptive fuzzy controller of a manipulator robot by taking into account that we don't have a precise knowledge of the mathematical model what is generally the case. The purpose would be to transform the dynamics of the manipulator arm into a linear dynamics by using the technique of linearization by state feedback. After the linearization of this system, it is necessary to use a strategy of estimation by an uncertain fuzzy system which parameters are adjusted by laws of adaptation based on the synthesis of Lyapunov. And the final purpose would be to assure the stability of the system in closed loop for this process. We have also elaborate a strategy of avoidance of the obstacles by the manipulator arm by using the fuzzy logic and rules emanating from the human expert because the system evolves in an uncertain environment which is necessary to consider when we elaborate our control system.