期刊名称：International Journal of Advanced Research in Computer Engineering & Technology (IJARCET)
印刷版ISSN：2278-1323
出版年度：2017
卷号：6
期号：9
页码：1421-1425
出版社：Shri Pannalal Research Institute of Technolgy
摘要：Aiming at the frictional force and the modelingerror caused by the change of model parameters in joint robotcontrol system, the design method of dual adaptive controller isdiscussed in this paper. The uncertain dynamics caused by thechange of the parameters of the robot model is compensated bythe adaptive controller composed of the regression matrix. Atthe same time, Adaptive fuzzy control algorithm is used toovercome the friction of robot joints, Lyapunov function is usedto determine the adaptive laws the method ensures globalstability of the system, The simulation results show that thecontroller has a good position and speed tracking ability in thepresence of model error and friction interference.
