Abstract
AbstractThis paper presents a combined adaptive fuzzy control algorithm for uncertain robot manipulators. It employs a weight factor to adjust the ratio of direct and indirect adaptive fuzzy control, which take full advantages of the two methods. To make the controller have the good supervision, a supervisory controller is introduced and a robust controller is to ensure optimal tracking performance of the closed-loop system. The uncertainty of the approximation error and interference can be compensated through the compensator. In order to prevent the system state variables unpredictable, an observer is also designed to estimate the unpredictable states. A two-arm robot is simulated to verify the feasibility of the proposed control scheme.KeywordsFuzzy ControllerRobot ManipulatorAdaptive Fuzzy ControlAdaptive Fuzzy ControllerFeedback Gain MatrixThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
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