Adaptive control of robot manipulator using fuzzy compensator

This paper presents two kinds of adaptive control schemes for robot manipulator which has the parametric uncertainties. In order to compensate these uncertainties, we use the FLS (fuzzy logic system) that has the capability to approximate any nonlinear function over the compact input space. In the p...

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Bibliographic Details
Published in:IEEE transactions on fuzzy systems 2000-04, Vol.8 (2), p.186-199
Main Authors: Yoo, Byung Kook, Ham, Woon Chul
Format: Article
Language:English
Subjects:
Adaptive control
Fuzzy control
Fuzzy logic
Manipulator dynamics
Manipulators
Mathematical analysis
Mathematical models
Nonlinear dynamical systems
Nonlinear equations
Orbital robotics
Robot control
Robots
Robust control
Studies
Uncertainty
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Summary:This paper presents two kinds of adaptive control schemes for robot manipulator which has the parametric uncertainties. In order to compensate these uncertainties, we use the FLS (fuzzy logic system) that has the capability to approximate any nonlinear function over the compact input space. In the proposed control schemes, we need not derive the linear formulation of robot dynamic equation and tune the parameters. We also suggest the robust adaptive control laws in all proposed schemes for decreasing the effect of approximation error. To reduce the number of fuzzy rules of the FLS, we consider the properties of robot dynamics and the decomposition of the uncertainty function. The proposed controllers are robust not only to the structured uncertainty such as payload parameter, but also to the unstructured one such as friction model and disturbance. The validity of the control scheme is shown by computer simulations of a two-link planar robot manipulator.
ISSN:1063-6706
1941-0034
DOI:10.1109/91.842152