FUZZY LOGIC-BASED ADAPTIVE TRACKING CONTROL OF MANIPULATOR ACTUATED BY DC MOTOR

Jinglei Zhou, Zhenwu Li, Guizhi Lv, and Endong Liu

Keywords

DC motor, manipulator, adaptive fuzzy control, tracking control

Abstract

This article designs a kind of adaptive fuzzy controller for the tracking control problem of manipulator considering the external disturbances, modelling errors and motor drive parameters. First, based on introducing the controller design with the nominal system, the perfected controller is developed in view of the aforementioned uncertainties. In this controller, the adaptive fuzzy logic systems are adopted to estimate the uncertainties and approximation errors are eliminated by using a filtered error, the external disturbances and the uncertainties of the motor drive parameters are also compensated. In consequence, the robust performance of manipulator system is enhanced. Then, by using the Lyapunov stability theory, the asymptotical convergence of tracking errors is ensured. Last, a twolink rigid manipulator is taken as an example to give the simulations, and these simulations show that the developed controller is effective.

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