Adaptive Fuzzy Position and Force Control for Cooperative Multimanipulators With System Uncertainties and Input Dead-Zone Nonlinearities

The adaptive fuzzy logic position and force control scheme are proposed for multimanipulators with nonlinear uncertainties, external disturbances, and input dead-zone nonlinearities. Specifically, the adaptive fuzzy logic system is employed for approximating the nonlinear dynamics of the manipulator, and the approximation error is compensated online by the designed robust control terms. In addition, to address the nonlinear input dead-zone effect, a new theorem is presented to stabilize the system without using specific Nussbaum functions. Consequently, the proposed robust control algorithm exhibits strong applicability. Finally, the stability of the multimanipulator tracking system is verified using a Lyapunov function. Simulation results demonstrate the effectiveness of this strategy.