Compound Control Strategy for Manipulator Based on Adaptive Fuzzy Compensation
HU Lingmei1,2, CHEN Yang1, CHEN Junfeng3, LAN Ting2
1. College of Science & Technology, Ningbo University, Ningbo 315211, China;
2. Faculty of Electrial Engineering and Computer Science, Ningbo University, Ningbo 315211, China;
3. College of Internet of Things Engineering, HoHai University, Changzhou 213022, China
Abstract：In this paper, we propose an adaptive control scheme, based on the Lyapunov stability theory, for a manipulator in cases characterized by uncertainties such as friction and disturbance, which cause difficulties in the manipulator's tracking control. First, we compute the torque controller based on the nominal value of the manipulator. Next, we propose a fuzzy compensator to track friction. Then, we design a feedback controller based on the upper bound of the random perturbation to guarantee the system's stability. The simulation results for the robot manipulator's trajectory tracking in cases with uncertain friction and perturbation demonstrate the validity of the proposed compound control strategy.
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