Compensating the reconstruction error of fuzzy estimator in robust model-free control of electrically driven robot manipulators

This paper presents a novel robust model-free control for electrically driven robot manipulators based on the voltage control strategy. Adaptive fuzzy systems are applied to estimate the lumped uncertainty. The adaptation laws for parameters of fuzzy systems are derived from a stability analysis. The reconstruction error is then compensated to provide the asymptotically convergence of the tracking error. The novelty of this paper is proposing a continuous term for compensating the reconstruction error, while in previous related works, a discontinuous function is proposed. The case study is an articulated robot manipulator driven by permanent magnet DC motors. Simulation results show the effectiveness of the proposed method.

کلیدواژه ها:

Adaptive fuzzy control ، reconstruction error ، voltage control strategy