Robust Fuzzy Adaptive Compensation Control of Reconfigurable Manipulator

doi:10.16182/j.issn1004731x.joss.201805042

Abstract

Abstract: Aiming at the uncertainty of the dynamics system of reconfigurable manipulator, a control law based on the fuzzy adaptive algorithm is proposed to adaptively approach the friction and external disturbance in the system, achieving the compensation control of the reconfigurable robot arm. At the same time, the robust items are added in the control law in order to improve the compensation precision and anti-interference performance of the control law, and reduce the approximation error of the algorithm. By Lyapunov stability theory, it is proved that the proposed fuzzy adaptive control law and the robust fuzzy adaptive control law can ensure the stability of the system in case that the reconfigurable manipulator dynamics contains friction and the external disturbance. A reconfigurable robot arm with three degrees of freedom is used as an example to design a controller of the reconfigurable robotic arm. The simulation results show that the algorithm has good trajectory tracking performance, and the feasibility and effectiveness of the algorithm are verified.

Key words: fuzzy adaptive, reconfigurable robot arm, robust control, sliding model control

CLC Number:

TP242

Ge Weimin, Yan Keke, Wang Xiaofeng, Liu Zengchang. Robust Fuzzy Adaptive Compensation Control of Reconfigurable Manipulator[J]. Journal of System Simulation, 2018, 30(5): 1950-1956.

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