Adaptive fuzzy compensator based CNF control for uncertain robot manipulators

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Journal of Vibration and Shock ›› 2020, Vol. 39 ›› Issue (8) : 106-111.

JIANG Yuan1,2,3，GONG Chenglong1，L Ke2，DAI Jiyang1,3

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Abstract

In order to solve the influence of uncertain factors on a robot system and realize the ability of the uncertain robot system to track the reference input accurately, the strategy of combining adaptive fuzzy control and composite nonlinear feedback (CNF) control was studied, and a robot CNF controller based on adaptive fuzzy compensation was proposed.The core is to systematically use the adaptive fuzzy control to approach the uncertainty of the system and use it as a compensation item of the CNF controller to fully utilize the advantages of the two control methods to reduce the impact of uncertainties on the system performance.Through feedback linearization and the Lyapunov theory, the convergence of the closed-loop system was proved.The final simulation results confirm the effectiveness of the method.

Key words

robot / uncertainty / adaptive fuzzy control / composite nonlinear feedback(CNF) control / system convergence

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JIANG Yuan1,2,3，GONG Chenglong1，L Ke2，DAI Jiyang1,3. Adaptive fuzzy compensator based CNF control for uncertain robot manipulators[J]. Journal of Vibration and Shock, 2020, 39(8): 106-111

References

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