Type-2 Fuzzy Adaptive Control For Uncertain Robot Manipulator System With Time-Varying Output Constraints

摘要

A novel adaptive control design method based on type-2 fuzzy logic system is proposed in this paper. The controller is to solve the stability problem of n-link manipulator system with time-varying output constraints in complex environment. Through the analysis of type-2 fuzzy logic systems, a new and original universal approximator with parameter is proposed to equalize the un-certainties in robot manipulator system. The main advantages of this design method one is that the computational burden of online learning can be reduced greatly, another merit is more smaller tracking error can be ensured, and the output or position of the robot manipulator system are constrained by time-varying output. In addition to these, the idea of this paper extends the semi-global stability to global stability compares to the traditional fuzzy adaptive controls. The effectiveness of the method is demonstrated by simulation results.