| Jiang Yuan（蒋沅）,Gong Chenglong,Dai Jiyang.[J].高技术通讯(英文),2019,25(4):426~433 |
|
| Adaptive fuzzy compensation based composite nonlinear feedback controller design for robot manipulators |
| |
| DOI：doi：10.3772/j.issn.1006-6748.2019.04.011 |
| 中文关键词: |
| 英文关键词: robot, uncertainty, composite nonlinear feedback (CNF), adaptive fuzzy control, system convergence |
| 基金项目: |
| Author Name | Affiliation | | Jiang Yuan（蒋沅） | | | Gong Chenglong | | | Dai Jiyang | |
|
| Hits: 1901 |
| Download times: 1681 |
| 中文摘要: |
| |
| 英文摘要: |
| In order to suppress the influence of uncertain factors on robot system and enable an uncertain robot system to track the reference input accurately, a strategy of combining composite nonlinear feedback (CNF) control and adaptive fuzzy control is studied, and a robot CNF controller based on adaptive fuzzy compensation is proposed. The key of this strategy is to use adaptive fuzzy control to approach the uncertainty of the system online, as the compensation term of the CNF controller, and make full use of the advantages of the two control methods to reduce the influence of uncertain factors on the performance of the system. The convergence of the closed-loop system is proved by feedback linearization and Lyapunov theory. The final simulation results confirm the effectiveness of this plan. |
|
View Full Text
View/Add Comment Download reader |
| Close |
|
|
|
