Robust Fuzzy Adaptive Compensation Control of Reconfigurable Manipulator

Authors

Weimin Ge, 1. Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System, Tianjin 300384, China; ;
Keke Yan, 1. Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System, Tianjin 300384, China; ;2. Tianjin Key Laboratory for Control Theory and Applications in Complicated System, Tianjin 300384, China; ;
Xiaofeng Wang, 1. Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System, Tianjin 300384, China; ;
Zengchang Liu, 3. China Automobile Industry Engineering Co., Ltd., Tianjin 300384, China;;

Abstract

Abstract: Aiming at the uncertainty of the dynamics system of reconfigurable manipulator, a control law based on the fuzzy adaptive algorithm is proposed to adaptively approach the friction and external disturbance in the system, achieving the compensation control of the reconfigurable robot arm. At the same time, the robust items are added in the control law in order to improve the compensation precision and anti-interference performance of the control law, and reduce the approximation error of the algorithm. By Lyapunov stability theory, it is proved that the proposed fuzzy adaptive control law and the robust fuzzy adaptive control law can ensure the stability of the system in case that the reconfigurable manipulator dynamics contains friction and the external disturbance. A reconfigurable robot arm with three degrees of freedom is used as an example to design a controller of the reconfigurable robotic arm. The simulation results show that the algorithm has good trajectory tracking performance, and the feasibility and effectiveness of the algorithm are verified.

Recommended Citation

Ge, Weimin; Yan, Keke; Wang, Xiaofeng; and Liu, Zengchang (2019) "Robust Fuzzy Adaptive Compensation Control of Reconfigurable Manipulator," Journal of System Simulation: Vol. 30: Iss. 5, Article 42.
DOI: 10.16182/j.issn1004731x.joss.201805042
Available at: https://dc-china-simulation.researchcommons.org/journal/vol30/iss5/42

First Page

1950

Revised Date

2016-07-27

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.201805042

Last Page

1956

CLC

TP242

Recommended Citation

Ge Weimin, Yan Keke, Wang Xiaofeng, Liu Zengchang. Robust Fuzzy Adaptive Compensation Control of Reconfigurable Manipulator[J]. Journal of System Simulation, 2018, 30(5): 1950-1956.

DOI

10.16182/j.issn1004731x.joss.201805042