Control of Robot Manipulator with Uncertain Dynamics by Adaptive Fuzzy Controller

摘要: To exploit the beneficial features of feedback linearization control and fuzzy control, also to overcome their disadvantages, this paper presents a robust adaptive scheme combining conventional compensator for tracking robotic manipulators with uncertainties in forms structured unstructured. The proposed is based on estimation compensation uncertainty. system compensates by modeling as nonlinear function joint position variables. novelty advantage use non-complicated structure without applying all states estimating uncertainty, so number rules reduced. According Lyapunov stability theory, error limit derived closed‐ loop accordingly convergence proved. A comparison between controller at presence presented. authenticity showcased numerical simulations SCARA robot manipulator.