Robust Adaptive Fuzzy Control for Robot Manipulator with Uncertain Dynamics

摘要

A robust adaptive fuzzy control scheme combined with an adaptive fuzzy control algorithm and H ∞ control model is proposed for the trajectory tracking control of robot manipulator with structured and unstructured uncertainties. The adaptive fuzzy control algorithm is employed to approximate structured uncertainties, and the nonlinear robust H control model is designed to eliminate the effect of the unstructured uncertainties and approximation errors. The validity of the robust adaptive fuzzy control scheme is demonstrated by numerical simulations of a two-link rotary robot manipulator.