Adaptive Fuzzy Computed-Torque Control for Robot Manipulator with Uncertain Dynamics

International Journal of Advanced Robotic Systems

关键词: Computed-Torque Control;    Robot Manipulator;    Adaptive Control;    Fuzzy Compensator;   

DOI  :  10.5772/54643

学科分类：自动化工程

来源: InTech

【 摘 要 】

To overcome the disadvantages of conventional computed-torque control and fuzzy control, and to exploit their attractive features, this paper proposes two types of adaptive control scheme combining conventional computed-torque control and different fuzzy compensators for the robust tracking control of robotic manipulators with structured and unstructured uncertainties. Fuzzy compensators based on feed-forward and feed-back are developed to compensate these uncertain dynamics. On the basis of Lyapunov stability theory, a tracking error limit is derived for the closed-loop control system and the convergence and stability of the control schemes are proved. Comparisons of their performances with conventional computed-torque controllers under the condition of these uncertainties are carried out. The validity of the two types of adaptive control scheme is shown by numerical simulations of a three-link rotary robot manipulator.

【 授权许可】

CC BY