In order to improve the trajectory tracking accuracy of unmodeled multiple manipulators grasping the same object,a fuzzy adaptive control method of unmodeled multiple manipulators is proposed.This method calculates the coefficient of the latter part of T-S(Takagi-Sugeno)fuzzy log-ic system(FLS)by homogeneous function.Taking T-S FLS as the main body,a non-zero parameter which can automatically update the approximation precision is added to the traditional FLS design.By using the universal approximation theory,the task of approximating the uncertain term is com-pleted,and the sliding mode surface system is added to ensure that the proposed method can get rid of the constraints of the finite approximation domain.The Lyapunov function theory is adopted to analyze its stability.Simulation results show that this method can guarantee the tracking perform-ance of the system,and all signals in the closed-loop system are uniformly ultimately bounded(UUB),which can improve the tracking accuracy of the same object captured by unmodeled multiple manipulators.
关键词
多机械臂/齐次函数/T-S型模糊逻辑系统/李雅普诺夫函数/自适应控制/万能逼近理论
Key words
multiple manipulators/homogeneous function/T-S type fuzzy logic system/Lyapunov function theory/adaptive control/universal approximation theory
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