Discrete-time indirect adaptive fuzzy control for robot manipulators  

作　　者：Mohammad Mehdi Fateh Siamak Azargoshasb 

机构地区：[1]Department of Electrical Engineering,University of Shahrood,Shahrood,Iran

出　　处：《International Journal of Intelligent Computing and Cybernetics》2014年第4期382-396,共15页智能计算与控制论国际期刊（英文）

摘　　要：Purpose–The purpose of this paper is to design a discrete indirect adaptive fuzzy controller for a robotic manipulator.This paper addresses how to overcome the approximation error of the fuzzy system and uncertainties for asymptotic tracking control of robotic manipulators.The uncertainties include parametric uncertainty,un-modeled dynamics,discretization error and external disturbances.Design/methodology/approach–The proposed controller is model-free and voltage-based in the form of discrete-time Mamdani fuzzy controller.The parameters of fuzzy controller are adaptively tuned for asymptotic tracking of a desired trajectory.A robust control term is used to compensate the approximation error of the fuzzy system.An adaptive mechanism is derived based on the stability analysis.Findings–The proposed model-free discrete control is robust against all uncertainties associated with the robot manipulator and actuators.The approximation error of the fuzzy system is well compensated to achieve asymptotic tracking of the desired trajectories.Stability analysis and simulation results show its efficiency in the tracking control.Originality/value–A novel discrete indirect adaptive fuzzy controller is designed for electrically driven robot manipulators using the voltage control strategy.The novelty of this paper is compensating the approximation error of the fuzzy system and discretizing error for asymptotic tracking of the desired trajectory.

关 键 词：Nonlinear control Fuzzy logic Intelligent control ROBOTICS Adaptive control 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]