An Adaptive Fuzzy Control Model for Multi-Joint Manipulators

摘要

Multi-joint manipulator systems are subject to nonlinear influences such as frictional characteristics, random disturbances and load variations. To account for uncertain disturbances in the operation of manipulators, we propose an adaptive manipulator control method based on a multi-joint fuzzy system, in which the upper bound information of the fuzzy system is constant and the state variables of the manipulator control system are measurable. The control algorithm of the system is a MIMO (multi-input-multi-output) fuzzy system that can approximate system error by using a robust adaptive control law to eliminate the shadow caused by approximation error. It can ensure the stability of complex manipulator control systems and reduce the number of fuzzy rules required. Comparison of experimental and simulation data shows that the controller designed using this algorithm has highly-precise trajectory-tracking control and can control robotic systems with complex characteristics of non-linearity, coupling and uncertainty. Therefore, the proposed algorithm has good practical application prospects and promotes the development of complex control systems.