Observer-based adaptive control of robot manipulators
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Date
2008
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Abstract
This paper presents a fuzzy adaptive control suitable for motion control of multi-link robot manipulators with structured and unstructured
uncertainties. When joint velocities are available, full state fuzzy adaptive feedback control is designed to ensure the stability of the closed loop
dynamic. If the joint velocities are not measurable, an observer is introduced and an adaptive output feedback control is designed based on the
estimated velocities. In the proposed control scheme, we need not derive the linear formulation of robot dynamic equation and tune the parameters.
To reduce the number of fuzzy rules of the fuzzy controller, we consider the properties of robot dynamics and the decomposition of the uncertainties
terms. The proposed controller is robust against uncertainties and external disturbance. Further, it is shown that required stability conditions, in
both cases, can be formulated as LMI problems and solved using dedicated software. The validity of the control scheme is demonstrated by
computer simulations on a two-link robot manipulator
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Keywords
Robot manipulators, Fuzzy systems, Adaptive control, Stability