This paper presents a fuzzy and robust close loop control system for nonlinear electromechanical systems of an electric motor actuating an arm robot. This control system is applied to the three basic navigation problems of intelligent robot systems in unstructured environments: autonomous planning, fast nonstop navigation without collision with obstacles, and dealing with structured and/or unstructured uncertainties. The stability of close loop control system is guaranteed by Lyapunov theory.%给出了一种电机驱动机器手中非线性机电模型的模糊鲁棒闭环控制系统,此控制系统可处理非结构环境下的三个主要的智能机器人导航问题:自动化规划、快速连续导航中的避障、处理结构和(或)非结构不确定性.
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