Adaptive Fuzzy Computed-Torque Control for Robot Manipulator with Uncertain Dynamics:

摘要: To overcome the disadvantages of conventional computed-torque control and fuzzy control, to exploit their attractive features, this paper proposes two types adaptive scheme combining different compensators for robust tracking robotic manipulators with structured unstructured uncertainties. Fuzzy based on feed-forward feed-back are developed compensate these uncertain dynamics. On basis Lyapunov stability theory, a error limit is derived closed-loop system convergence schemes proved. Comparisons performances controllers under condition uncertainties carried out. The validity shown by numerical simulations three-link rotary robot manipulator.