Adaptive fuzzy controllers of a robot manipulator

Abstract

Abstract In this paper, two adaptive fuzzy robot control algorithms, which employ tracking errors of the joint motion to drive the parameter adaptation, are derived. The predominant concern of the adaptation laws is to reduce the tracking errors. In particular, they require no feedback of joint accelerations. These adaptive controllers do not require the exact robot dynamics but only the boundary of the dynamics. Theoretical results and simulation studies on a two-link robot manipulator show that these adaptive fuzzy robot controllers are robust and stable.