Research of Robust Adaptive Fuzzy Control in Manipulator
There are friction characteristics, random disturbance, load variation and other nonlinear influencing factors in the multi-joint manipulator system generally. According to the problem that the traditional PID and fuzzy control are difficult to achieve rapid and high-precision control for this kind of system, a kind of robust adaptive fuzzy controller was designed based on fuzzy compensation under the circumstances that the fuzzy information can be known and all the state variables can be measured. Simultaneously, in order to reduce the computational load of fuzzy approximation and improve the efficiency of mathematical operation, a method that distinguishing different disturbance compensatory terms and approximating each of them respectively was adopted. The simulation results show that the robust adaptive fuzzy controller based on fuzzy compensation can restrain friction, disturbance, load variation and other nonlinear influencing factors.
H. L. Li and P. B. Zhao, "Research of Robust Adaptive Fuzzy Control in Manipulator", Advanced Materials Research, Vols. 317-319, pp. 713-717, 2011