Robust adaptive fuzzy control application to uncertain non-linear systems in robotics

摘要

In this paper the problem of tracking of a non-linear system in the presence of external disturbances is analysed. An adaptive fuzzy controller is proposed to improve performance of an H∞ tracking problem. The proposed approach benefits from the high performance of H∞ on the one hand, and the intuitive ‘smart’ approach of fuzzy control on the other. An example of a two-link manipulator is used for illustration.