Adaptive Fuzzy Computed-Torque Control for Robot Manipulator with Uncertain Dynamics
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...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2012-12-01
|
| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/54643 |
| _version_ | 1818118255137521664 |
|---|---|
| author | Yuan Chen Guangying Ma Shuxia Lin Jun Gao |
| author_facet | Yuan Chen Guangying Ma Shuxia Lin Jun Gao |
| author_sort | Yuan Chen |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-11T04:51:24Z |
| format | Article |
| id | doaj.art-a72477bd6dc844c7b961b5dba9c78e61 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-11T04:51:24Z |
| publishDate | 2012-12-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-a72477bd6dc844c7b961b5dba9c78e612022-12-22T01:20:23ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142012-12-01910.5772/5464310.5772_54643Adaptive Fuzzy Computed-Torque Control for Robot Manipulator with Uncertain DynamicsYuan Chen0Guangying Ma1Shuxia Lin2Jun Gao3 School of Mechanical, Electrical & Information Engineering, Shandong University at Weihai, China School of Mechanical, Electrical & Information Engineering, Shandong University at Weihai, China School of Mechanical, Electrical & Information Engineering, Shandong University at Weihai, China School of Mechanical, Electrical & Information Engineering, Shandong University at Weihai, ChinaTo 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.https://doi.org/10.5772/54643 |
| spellingShingle | Yuan Chen Guangying Ma Shuxia Lin Jun Gao Adaptive Fuzzy Computed-Torque Control for Robot Manipulator with Uncertain Dynamics International Journal of Advanced Robotic Systems |
| title | Adaptive Fuzzy Computed-Torque Control for Robot Manipulator with Uncertain Dynamics |
| title_full | Adaptive Fuzzy Computed-Torque Control for Robot Manipulator with Uncertain Dynamics |
| title_fullStr | Adaptive Fuzzy Computed-Torque Control for Robot Manipulator with Uncertain Dynamics |
| title_full_unstemmed | Adaptive Fuzzy Computed-Torque Control for Robot Manipulator with Uncertain Dynamics |
| title_short | Adaptive Fuzzy Computed-Torque Control for Robot Manipulator with Uncertain Dynamics |
| title_sort | adaptive fuzzy computed torque control for robot manipulator with uncertain dynamics |
| url | https://doi.org/10.5772/54643 |
| work_keys_str_mv | AT yuanchen adaptivefuzzycomputedtorquecontrolforrobotmanipulatorwithuncertaindynamics AT guangyingma adaptivefuzzycomputedtorquecontrolforrobotmanipulatorwithuncertaindynamics AT shuxialin adaptivefuzzycomputedtorquecontrolforrobotmanipulatorwithuncertaindynamics AT jungao adaptivefuzzycomputedtorquecontrolforrobotmanipulatorwithuncertaindynamics |