Uncertain Robotic Manipulator System’s Tracking Control Based on Fuzzy Adaptive Method

Abstract

The paper puts forward a control scheme by a computed torque controller plus a fuzzy compensator concerning the issue of tracking control of uncertain robotic manipulator. Computed torque controller is used for the nominal system and the fuzzy compensator is used to control the uncertain system. The parameters of fuzzy compensator are adaptively adjusted based on Lynapunov stability theory. The proposed scheme can guarantee the asymptotical stabilization of close-loop system. Simulation results are included to demonstrate the effectiveness and feasibility of our developed method.