Fuzzy adaptive output feedback control for robotic systems based on fuzzy adaptive observer

被引：24
|
作者：
Peng, Jinzhu [1 ]
Liu, Yan [2 ]
Wang, Jie [1 ]
机构：
[1] Zhengzhou Univ, Sch Elect Engn, Zhengzhou 450001, Henan, Peoples R China
[2] Zhengzhou Univ, Lib Zhengzhou Univ, Zhengzhou 450001, Henan, Peoples R China
来源：
NONLINEAR DYNAMICS | 2014年 / 78卷 / 02期
基金：
中国国家自然科学基金; 中国博士后科学基金; 高等学校博士学科点专项科研基金;
关键词：
Fuzzy logic systems; Output feedback control; State observer; Robotic system; INFINITY TRACKING CONTROL; NEURAL-NETWORK; SLIDING-MODE; NONLINEAR-SYSTEMS; ROBUST-CONTROL; MANIPULATORS; STRATEGY; DESIGN;
D O I：
10.1007/s11071-014-1477-z
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this paper, a fuzzy adaptive output feedback control scheme based on fuzzy adaptive observer is proposed to control robotic systems with parameter uncertainties and external disturbances. It is supposed that only the joint positions of the robotic system can be measured, whereas the joint velocities are unknown and unmeasured. First, a fuzzy adaptive nonlinear observer is presented to estimate the joint velocities of robotic systems, and the observation errors are analyzed using strictly positive real approach and Lyapunov stability theory. Next, based on the observed joint velocities, a fuzzy adaptive output feedback controller is developed to guarantee stability of closed-loop system and achieve a certain tracking performance. Based on the Lyapunov stability theorem, it is proved that all the signals in closed-loop system are bounded. Finally, simulation examples on a two-link robotic manipulator are presented to show the efficiency of the proposed method.
引用
收藏
页码：789 / 801
页数：13
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