期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2012
卷号：9
期号：6
页码：237
DOI：10.5772/54643
语种：English
出版社：SAGE Publications
摘要：To overcome the disadvantages of conventional computed-torque control and fuzzy control, and to exploit their attractive features, this paper proposes two types of adaptive control scheme combining conventional computed-torque control and different fuzzy compensators for the robust tracking control of robotic manipulators with structured and unstructured uncertainties. Fuzzy compensators based on feed-forward and feed-back are developed to compensate these uncertain dynamics. On the basis of Lyapunov stability theory, a tracking error limit is derived for the closed-loop control system and the convergence and stability of the control schemes are proved. Comparisons of their performances with conventional computed-torque controllers under the condition of these uncertainties are carried out. The validity of the two types of adaptive control scheme is shown by numerical simulations of a three-link rotary robot manipulator.
关键词：Computed-Torque Control ; Robot Manipulator ; Adaptive Control ; Fuzzy Compensator
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