Robust fuzzy tracking control for robotic manipulators |
| |
| Affiliation: | 1. The Hong Kong Polytechnic University, Department of Electrical Engineering, Hung Hom, Kowloon, Hong Kong;2. Swinburne University of Technology, Faculty of Engineering and Industrial Sciences, Hawthorn, Victoria, 3122, Australia;1. College of Science, Yanshan University, Qinhuangdao, Hebei Province 066004, PR China;2. College of Science, Northeastern University, Shenyang, Liaoning Province 110004, PR China;1. Department of Control Science and Engineering, Tongji University, Shanghai 200092, China;2. Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong Special Administrative Region;3. Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150001, China;4. Department of Automation, Zhejiang University of Technology, Hangzhou 310023, China;1. College of Electrical Engineering, Yanshan University, Qinhuangdao 066004, Hebei Province, PR China;2. College of Science, Yanshan University, Qinhuangdao 066004, Hebei Province, PR China |
| |
| Abstract: | In this paper, a stable adaptive fuzzy-based tracking control is developed for robot systems with parameter uncertainties and external disturbance. First, a fuzzy logic system is introduced to approximate the unknown robotic dynamics by using adaptive algorithm. Next, the effect of system uncertainties and external disturbance is removed by employing an integral sliding mode control algorithm. Consequently, a hybrid fuzzy adaptive robust controller is developed such that the resulting closed-loop robot system is stable and the trajectory tracking performance is guaranteed. The proposed controller is appropriate for the robust tracking of robotic systems with system uncertainties. The validity of the control scheme is shown by computer simulation of a two-link robotic manipulator. |
| |
| Keywords: | |
| 本文献已被 ScienceDirect 等数据库收录！ |
|
