Fuzzy direct adaptive control for robotic manipulators

摘要

A fuzzy direct adaptive control strategy is proposed for the trajectory tracking control of robotic manipulators. Different to the traditional fuzzy adaptive control method, a generalized hyperbolic model is used to be the fuzzy basis function. The input generalized variables of the fuzzy logic system, derived from the input variables after their transformation, can cover with the whole input space. Thus, the fuzzy logic system can approximate the desired control input by an arbitrary accuracy. Furthermore, due to the special structure of the fuzzy hyperbolic model, the adaptive fuzzy control strategy needs only fewer updated parameters so that it can avoid a heavy computational burden but getting a satisfied tracking performance. Simulation studies are presented to show that this control algorithm has an expected tracking accuracy.