首页|A FUZZY UNCERTAINTY COMPENSATOR FOR MANIPULATOR TRAJECTORY TRACKING

A FUZZY UNCERTAINTY COMPENSATOR FOR MANIPULATOR TRAJECTORY TRACKING

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A novel fuzzy logic compensating (FLC) scheme is proposed to enhance the conventional computed-torque control (CTC) structure of manipulators. The control scheme is based on the combination of a classical CTC and FLC, and the resulting control scheme has a simple structure with improved robustness. Further improvement of the performance of the FLC scheme is achieved through automatic tuning of a weight parameter ( leading to a self-tuning fuzzy logic compensator, so the system uncertainty can be compensated very well. By taking into account the full nonlinear nature of the robotic dynamics, the overall closed-loop system is shown to be asymptotically stable. Experimental results demonstrate the effectiveness of the computed torque and fuzzy compensation scheme to control a manipulator during a trajectory tracking task.

ManipulatorTrajectory trackingFuzzy compensator

Chen Wuwei、James K Mills、Sun Dong

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School of Mechanical and Automotive Engineering,Hefei University of Technology,Hefei 230009, China

Department of Mechanical and Industrial Engineering,University of Toronto

Department of Manufacturing Engineering and Engineering Management,City University of Hong Kong

2003

中国机械工程学报
中国机械工程学会

中国机械工程学报

CSCD
影响因子：0.765
ISSN：1000-9345
年,卷(期)：2003.16(1)
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