Adaptive fuzzy control of uncertain robotic manipulator
type: Item
instance of: scholarly article
title: Adaptive fuzzy control of uncertain robotic manipulator
zbMATH Open document ID: 1427.93129
DOI: 10.1155/2018/4703492
author: Jing-lei Zhou
author: Qunli Zhang
published in: Mathematical Problems in Engineering
publication date: 2019-02-08T00:00:00Z
review text: Summary: This paper designs a kind of adaptive fuzzy controller for robotic manipulator considering external disturbances and modeling errors. First, \(n\)-link uncertain robotic manipulator dynamics based on the Lagrange equation is changed into a two-order multiple-input multiple-output (MIMO) system via feedback technique. Then, an adaptive fuzzy logic control scheme is studied by using sliding theory, which adopts the adaptive fuzzy logic systems to estimate the uncertainties and employs a filtered error to make up for the approximation errors, hence enhancing the robust performance of robotic manipulator system uncertainties. It is proved that the tracking errors converge into zero asymptotically by using Lyapunov stability theory. Last, we take a two-link rigid robotic manipulator as an example and give its simulations. Compared with the existing results in the literature, the proposed controller shows higher precision and stronger robustness.
Mathematics Subject Classification ID: 93C42
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 93C10
zbMATH DE Number: 7019010
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2018/4703492
OpenAlex ID: W2800760254
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description: scientific article; zbMATH DE number 7019010