Distributed Adaptive Fuzzy Output Consensus Tracking of Multiple Flexible Robotic Manipulator Systems

摘要

ABSTRACT This paper addresses the adaptive fuzzy output feedback consensus tracking control problem for multiple Flexible Robotic Manipulator Systems (FRMSs). First, an adaptive fuzzy state observer is developed to estimate the unmeasurable states of each FRMS. Second, a distributed coordinate transformation is constructed to realize the information exchange between FRMS. Furthermore, fuzzy logic systems are employed to approximate unknown nonlinearities, and command filtered technique is introduced to overcome the “differential explosion” issue inherent in the backstepping design. The proposed control strategy ensures that the output feedback consensus tracking error converges to a small neighborhood of the origin, and all signals of the closed‐loop system remain uniformly bounded. Finally, extensive simulation results are provided to demonstrate the validity of the proposed control scheme.