Robust Adaptive Fuzzy Control for Robot Manipulator with Uncertain Dynamics

被引：4
|
作者：
Chen, Yuan [1 ]
Bi, YunJun [2 ]
Gao, Jun [1 ]
机构：
[1] Shandong Univ, Sch Mech Elect & Informat Engn, Weihai, Peoples R China
[2] Shandong Wuzhang Grp Co, Dept Technol & Equipment, Shandong, Peoples R China
来源：
AUTOMATIC CONTROL AND MECHATRONIC ENGINEERING II | 2013年 / 415卷
关键词：
Computed-torque control; Robust Hoc control; Adaptive fuzzy control; Robot manipulator with uncertain dynamic;
D O I：
10.4028/www.scientific.net/AMM.415.267
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A robust adaptive fuzzy control scheme combined with an adaptive fuzzy control algorithm and a nonlinear H-infinity tracking control model is proposed for the trajectory tracking control of robot manipulator with structured and unstructured uncertainties. The adaptive fuzzy control algorithm is employed to approximate structured uncertainties, and the nonlinear robust H-infinity control model is designed to eliminate the effect of the unstructured uncertainties and approximation errors. The validity of the robust adaptive fuzzy control scheme is demonstrated by numerical simulations of a two-link rotary robot manipulator.
引用
收藏
页码：267 / +
页数：2
相关论文
共 50 条
  • [1] Robust adaptive inverse dynamics control for uncertain robot manipulator
    [J]. 1600, ICIC International (10):
  • [2] ROBUST ADAPTIVE INVERSE DYNAMICS CONTROL FOR UNCERTAIN ROBOT MANIPULATOR
    Chen, Yuan
    Mei, Guifu
    Ma, Guangying
    Lin, Shuxia
    Gao, Jun
    [J]. INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL, 2014, 10 (02): : 575 - 587
  • [3] Indirect Robust Adaptive Fuzzy Control of Uncertain Two Link Robot Manipulator
    Abdelhamid, Bounemeur
    Mouhamed, Chemachema
    Najib, Essounbouli
    [J]. RECENT ADVANCES IN ELECTRICAL ENGINEERING AND CONTROL APPLICATIONS, 2017, 411 : 125 - 139
  • [4] Adaptive Fuzzy Computed-Torque Control for Robot Manipulator with Uncertain Dynamics
    Chen, Yuan
    Ma, Guangying
    Lin, Shuxia
    Gao, Jun
    [J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2012, 9
  • [5] BACKSTEPPING ADAPTIVE FUZZY CONTROL FOR UNCERTAIN ROBOT MANIPULATOR
    Zhou, Jinglei
    [J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 2018, 33 (06): : 620 - 627
  • [6] Adaptive Fuzzy Control of Uncertain Robotic Manipulator
    Zhou, Jinglei
    Zhang, Qunli
    [J]. MATHEMATICAL PROBLEMS IN ENGINEERING, 2018, 2018
  • [7] Robust Adaptive Neural-Fuzzy Network Tracking Control for Robot Manipulator
    Ngo, T.
    Wang, Y.
    Mai, T. L.
    Nguyen, M. H.
    Chen, J.
    [J]. INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL, 2012, 7 (02) : 341 - 352
  • [8] Fuzzy Control of an Uncertain Robot Manipulator with Input Constraint
    Shahriari-kahkeshi, Maryam
    Mahdavi, Meysam
    [J]. 2019 6TH INTERNATIONAL CONFERENCE ON CONTROL, INSTRUMENTATION AND AUTOMATION (ICCIA), 2019, : 37 - 42
  • [9] An adaptive robust tracking control for robot manipulator
    Wang, Yaonan
    Peng, Jinzhu
    [J]. ICMIT 2007: MECHATRONICS, MEMS, AND SMART MATERIALS, PTS 1 AND 2, 2008, 6794 : U46 - U51
  • [10] Research of Robust Adaptive Fuzzy Control in Manipulator
    Li, Honglin
    Zhao, Pengbing
    [J]. EQUIPMENT MANUFACTURING TECHNOLOGY AND AUTOMATION, PTS 1-3, 2011, 317-319 : 713 - +
12345