Fuzzy approximation based adaptive control for multiple robotic arms with input hysteresis nonlinearities

摘要

To achieve excellent multiple arms manipulation, it should not be possible to ignore the hysteresis nonlinearity in the actuator due to its wide existences in the mechanical systems and electrical devices. In this paper, an adaptive fuzzy control, which takes the input hysteresis into account, is constructed for the multiple arms system. Departing from the existing adaptive fuzzy approaches, the proposed method uses only one learning parameter to approximate the robotic dynamics. Therefore, it significantly reduces the computational burden in controlling the multiple arms manipulation.