Adaptive fuzzy and H<sup>∞</sup> control of robotic manipulators with uncertainties

摘要

In this paper, a new adaptive fuzzy and H <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sup> control method of robotic manipulators with uncertainties is proposed. The control method combines the fuzzy adaptive control with the H <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sup> control theory for trajectory tracking of robot manipulators. While establishing the model of the system, the influence of both the modeling errors and the external disturbances can be attenuated to a prescribed level. In addition, it is not necessary for the controller proposed to transform the robotic dynamics into nonlinear systems, and the controller thus obtained does not contain the inverse of matrices and can do without singularities. Based on Lyapunov method, the adaptive learning law is given and H <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sup> tracking performance is illustrated. The simulation studies on a 2-DOF robot verify the effectiveness of the proposed method.