A computed torque controller for uncertain robotic manipulator systems: Fuzzy approach. (English) Zbl 1068.93046

Summary: Computed Torque Control (CTC) is an effective motion control strategy for robotic manipulator systems, which can ensure globally asymptotic stability. However, the CTC scheme requires precise dynamical models of robotic manipulators. To handle this impossibility, in this paper, a new approach combing CTC and Fuzzy Control (FC) is developed for trajectory tracking problems of robotic manipulators with structured uncertainty and/or unstructured uncertainty. The fuzzy part with a set of tunable parameters is employed to approximate lumped uncertainty due to parameter variations, unmodeled dynamics and so on in robotic manipulators. Based on the Lyapunov stability theorem, it is shown that the proposed controller can guarantee stability of closed-loop systems and satisfactory tracking performances. The proposed approach indicates that the CTC method is also valid for controlling uncertain robotic manipulators as long as the compensative controller is appropriately designed. Finally, computer simulation results on a two-link elbow planar robotic manipulator are presented to show tracking capability and effectiveness of the proposed scheme.


93C85 Automated systems (robots, etc.) in control theory
93C42 Fuzzy control/observation systems
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