An Adaptive Fuzzy Controller for Trajectory Tracking of Robot Manipulator

• 作者: Amol A. Khalate Gopinathan Leena Goshaidas Ray
• 来源期刊: 智能控制与自动化(英文)
• 学科: 工学
• 关键词: PARAMETRIC UNCERTAINTY Lyapunov’s Stability Adaptive CONTROL FUZZY CONTROL ROBOTIC MANIPULATOR
• 年，卷（期）: 2011,（4）
• 页码范围: 364-370
• 页数: 7页
• 分类号: TP2

摘要

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.