Tracking Control of Robot Manipulator with Friction Compensation Using Time-Delay Control and an Adaptive Fuzzy Logic System

摘要

This paper aims to highlight the critical role of robot manipulators in industrial applications and elucidate the challenges associated with achieving high-precision control. In particular, the detrimental effects of nonlinear friction on manipulators are discussed. To overcome this challenge, a novel friction compensation controller (FCC) that combines time-delay estimation (TDE) and an adaptive fuzzy logic system (AFLS) is proposed in this paper. The friction compensation controller is designed to take advantage of the time-delay estimation algorithm’s strengths in eliminating and estimating unknown dynamic functions of the system using information from the previous sampling period. Simultaneously, the adaptive fuzzy logic system compensates for the hard nonlinearities in the system and suppresses the errors generated by time-delay estimation, thus improving the accuracy of the robotic arm’s tracking. The numerical experimental results demonstrate that the proposed friction compensation controller can significantly enhance the tracking accuracy of the robotic arm, with the addition of the adaptive fuzzy logic system improving time delay estimation’s performance by an average of 90.59%. Moreover, the proposed controller is more straightforward to implement than existing methods and performs exceptionally well in practical applications.