Abstract
In this study, with respect to certain second-order robotic systems with dead zones, a fuzzy adaptive variable structure controller (VSC) is implemented. Some suitable adaptive fuzzy systems are used to estimate uncertain functions. Based on Lyapunov stability theorems, parameter adaptive laws are designed, and it is proven that all signals involved will remain bounded and the stability of the controlled system is also guaranteed. Our controller is effective for the system with or without sector nonlinearity. Finally, a simulation example is presented to illustrate the correctness of the theoretical derivation.
Highlights
In the real world, almost all systems are multivariate in essence, and the multivariate control theory system can be immediately applied to various problems [1,2,3,4]
With respect to a complicated system, because there are a lot of system variables, it is very hard to accurately model the system, so scholars utilize kinds of methods to describe dynamics to achieve certain purposes. at is, the traditional control theory has a strong control ability for known systems, but it is powerless for systems that are too complicated or difficult to accurately describe
Inspired by the above discussion, in this paper, an adaptive fuzzy VSC method is proposed for an n-link robotic manipulator with dead zone. e main contributions of this work are listed as follows: (1) to handle the dead zone in the robotic manipulator, an adaptive fuzzy VSC method is proposed, and the VSC can estimate the dead-zone model, and (2) the stability of the controlled robotic manipulator is proven strictly based on Lyapunov stability criteria
Summary
Almost all systems are multivariate in essence, and the multivariate control theory system can be immediately applied to various problems (aerospace technology, electric motors, and robot technology) [1,2,3,4]. When multivariable systems are subject to system uncertainties, the control problems become more complicated [5, 6] In this field, theoretical results and constructive procedures for designing satisfactory controllers are constantly evolving, and only a few works have been reported up to now. Inspired by the above discussion, in this paper, an adaptive fuzzy VSC method is proposed for an n-link robotic manipulator with dead zone. E main contributions of this work are listed as follows: (1) to handle the dead zone in the robotic manipulator, an adaptive fuzzy VSC method is proposed, and the VSC can estimate the dead-zone model, and (2) the stability of the controlled robotic manipulator is proven strictly based on Lyapunov stability criteria Inspired by the above discussion, in this paper, an adaptive fuzzy VSC method is proposed for an n-link robotic manipulator with dead zone. e main contributions of this work are listed as follows: (1) to handle the dead zone in the robotic manipulator, an adaptive fuzzy VSC method is proposed, and the VSC can estimate the dead-zone model, and (2) the stability of the controlled robotic manipulator is proven strictly based on Lyapunov stability criteria
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
