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All Journal IAES International Journal of Robotics and Automation (IJRA)
Shuxia Lin
Shandong University at Weihai
Automotive Engineering Electrical & Electronics Engineering

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Adaptive Fuzzy and Robust H∞ Compensation Control for Uncertain Robot Yuan Chen; Guangying Ma; Shuxia Lin; Jun Gao
IAES International Journal of Robotics and Automation (IJRA) Vol 2, No 4: December 2013
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (354.067 KB) | DOI: 10.11591/ijra.v2i4.pp174-188

Abstract

In this paper, two types of robust adaptive compensation control schemes for the trajectory tracking control of robot manipulator with uncertain dynamics are proposed. The proposed controllers incorporate the computed-torque control scheme as a nominal portion of the controller; an adaptive fuzzy control algorithm to approximate the structured uncertainties; and a nonlinear H∞ tracking control model as a feedback portion to eliminate the effects of the unstructured uncertainties and approximation errors. The validity of the robust adaptive compensation control schemes is investigated by numerical simulations of a two-link rotary robot manipulator
Co-Authors Guangying Ma Jun Gao Yuan Chen