Adaptive Fuzzy Control for Manipulator with Structured Uncertainties and Unknown Environmental model

In this paper a new adaptive fuzzy control scheme is developed for robot manipulators in the presence of any kind of external disturbances with estimating environmental properties. In the proposed approach, uncertain parameters and the centers of output membership functions are estimated by two adaption laws. We assumed external disturbances are the results of the effect of environmental properties. They can be modeled by unknown functions. These functions are nonlinear synthesis of position and velocity of the point on which force is exerted in Cartesian space. Stability is analyzed through Lyapunov direct method and global uniform asymptotic stability (GUAS) of the system is established. The simulation results confirm robustness and effectiveness of the proposed approach to track the desired trajectory.

کلیدواژه ها:

Adaptive Fuzzy Control ، Manipulators ، Disturbance Rejection ، Global Uniform AsymptoticStability