Abstract
In this paper, an adaptive fuzzy control algorithm is proposed for trajectory tracking of an n-DOF robot manipulator subjected to parametric uncertainty and it is advantageous compared to the conventional nonlinear saturation controller. The asymptotic stability of the proposed controller has been derived based on Lyapunaov energy function. The design procedure is straightforward due to its simple fuzzy rules and control strategies. The simulation results show that the present control strategy effectively reduces the control effort with negligible chattering in control torque signals in comparison to the existing nonlinear saturation controller.
Highlights
The mathematical model of a dynamic robot manipulator involves highly nonlinearities, strong coupling and uncertain system dynamics [1,2,3,4]
An adaptive fuzzy control algorithm is proposed for trajectory tracking of an n-DOF robot manipulator subjected to parametric uncertainty and it is advantageous compared to the conventional nonlinear saturation controller
An adaptive fuzzy control law is proposed for trajectory tracking of robot manipulator with a view to reduce the chattering effect in torque control signal
Summary
The mathematical model of a dynamic robot manipulator involves highly nonlinearities, strong coupling and uncertain system dynamics [1,2,3,4] To overcome this problem, various adaptive control strategies have been adopted for such uncertain systems including SISO and MIMO systems with guaranteed performance. An equivalent adaptive fuzzy controller is proposed to design a robust control law for trajectory tracking of a two-link robot manipulator with reduced control effort as well as reduced chattering in control force. Fuzzy controller is designed from a simple fuzzy IF- rule and an adaptive control law is adopted to update the parameters of the fuzzy controller during the adaptation procedure This adaptive fuzzy controller along with simple PD control term is used to construct the final control torque for tracking control of robot manipulators joints
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