ADAPTIVE FUZZY FINITE-TIME CONTROL FOR UNCERTAIN ROBOTIC MANIPULATOR

Jinglei Zhou

Keywords

Finitetime control, fuzzy logic, uncertain robotic manipulator,adaptive

Abstract

Considering the external uncertain disturbance and the modelling uncertainty, two kinds of adaptive finite-time controllers, the setpoint controller and the tracking controller, are presented based on the fuzzy logic, which adopt the fuzzy logic to approximate the modelling uncertainty and employ a variable structure term to compensate the approximation error, thus improving the robustness of the robotic manipulator system. No matter which controller, theoretical analysis based on Lyapunov stability proves that the corresponding closed-loop system is finite-time stable. At the end, the simulation results by taking a two-link robotic manipulator indicate that the introduced controllers are effective and robust.

Important Links:



Go Back