Robust adaptive fuzzy control for uncertain robotic manipulators with full state constraints
Abstract To address the problem of trajectory tracking control of robotic manipulators in the presence of system uncertainties, state constraints, and external disturbances, a robust adaptive fuzzy control method based on the obstacle Lyapunov function is proposed. Firstly, the uncertainty caused by measurement errors within the robot manipulator model is approximated by a fuzzy logic system (FLS), and secondly, the external perturbations existing in the model are effectively handled with the help of a bounded estimation method. In addition, the constraints on joint positions and joint velocities are guaranteed not to be violated by utilizing the barrier Lyapunov function.
Authors
- Zhiwen Gao
- Chen Yang (ORCID: https://orcid.org/0000-0001-6346-621X)
- Junjie Wang (ORCID: https://orcid.org/0000-0002-8451-7765)
- Jianwen Li (ORCID: https://orcid.org/0000-0002-3936-937X)
- Xin Tang (ORCID: https://orcid.org/0000-0002-9088-9733)
- Boyang Zhao (ORCID: https://orcid.org/0000-0002-0650-3835)
- Ruxin Xue
Institutions
- North University of China (CN)
- Gansu Agricultural University (CN)
- Northwestern Polytechnical University (CN)
- Hunan Institute of Engineering (CN)
- Shanxi Coal Transportation and Sales Group (China) (CN)
- China Coal Technology and Engineering Group Corp (China) (CN)
- Shanxi Transportation Research Institute (CN)
Publication Details
- Journal
- Journal of Physics Conference Series
- Published
- 2024-11-01
- DOI
- https://doi.org/10.1088/1742-6596/2902/1/012047
- Primary Topic
- Adaptive Control of Nonlinear Systems
- Type
- article
- Field-Weighted Citation Impact
- 0.00