Adaptive fuzzy output feedback control for robot manipulators

摘要

In this paper, we propose an adaptive fuzzy output feedback control method for trajectory tracking control problem for robotic systems. Using Lyapunov method, we first develop a stable adaptive fuzzy state feedback control algorithm by assuming that the systems output and its derivatives are available for feedback control design. The algorithm combines fuzzy systems with robust adaptive controller. The fuzzy system approximates the certainty equivalent (CE)-based optimal controller while robustifying adaptive control term is used to cope with uncertainties that appeared from the effect of external disturbance, fuzzy approximation errors and other modeling errors. Then, an output feedback form of the position-velocity (state feedback) controller is proposed where unknown velocity signal is replaced by the output of model-free linear estimator. We show via asymptotic analysis that the tracking performance of the output feedback design can recover the performance achieved under the state feedback control design. Finally, the proposed method is implemented and evaluated on a 2-DOF robotic system to demonstrate the theoretical development for the real-time applications.