Design of Model Free Adaptive Fuzzy Computed Torque Controller: Applied to Nonlinear Second Order System.

摘要

In this study, a model free adaptive fuzzy computed torque controller (AFCTC) is designed for a twodegree-
\nof freedom robot manipulator to rich the best performance. Computed torque controller is studied
\nbecause of its high performance. AFCTC has been also included in this study because of its robust
\ncharacter and high performance. Besides, this control method can be applied to non-linear systems easily.
\nToday, robot manipulators are used in unknown and unstructured environment and caused to provide
\nsophisticated systems, therefore strong mathematical tools are used in new control methodologies to
\ndesign adaptive nonlinear robust controller with acceptable performance (e.g., minimum error, good
\ntrajectory, disturbance rejection). The strategies of control robot manipulator are classified into two main
\ngroups: classical and non-classical methods, however both classical and non-classical theories have been
\napplied successfully in many applications, but they also have some limitation. One of the most important
\nnonlinear robust controller that can used in uncertainty nonlinear systems, are computed torque controller.
\nThis paper is focuses on applied non-classical method in robust classical method to reduce the limitations.
\nTherefore adaptive fuzzy computed torque controller will be presented in this paper.