Fuzzy Adaptive Control of Manipulators Based on the Generalized Hyperbolic Model

摘要

A universal approximator and a direct fuzzy adaptive controller are proposed for the trajectory tracking control of robotic manipulator by taking advantage of the property of the generalized hyperbolic model.The input generalized variables of the fuzzy controller,derived from the translation of the input variables can cover the whole input space.So,this controller can approximate the optimal control by arbitrary accuracy.Furthermore,due to the special structure of the fuzzy hyperbolic model,the control strategy avoids a heavy computation burden when the fuzzy subsets are augmented but taking a satisfied tracking performance.It meets the requirement of robotic manipulator real-time control.Simulation studies show that this control algorithm possesses strong robustness and satisfactorg tracking accuracy.