Adaptive Fuzzy Controller Design for Uncertain Robotic Manipulators Subject to Nonlinear Dead Zone Inputs

摘要

This paper comes up with the adaptive fuzzy scheme for multi-degree robotic manipulators with dead zone. Fuzzy logic system is employed to approximate unknown nonlinear functions and input nonlinear functions with dead zones that are introduced. The adaptive fuzzy technique is utilized to deal with the problems of multi-joint robotic manipulators with unknown nonlinear functions in dead zones. Based on Lyapunov criterion, all the states and signals involved in the system are maintained in a certain bounded region and the tracking error converges to a small domain of origin. Finally, a simulation example of robotic manipulators with two joints is structured to confirm the practicability of the raised scheme.