IAES International Journal of Robotics and Automation (IJRA)
Vol 2, No 4: December 2013

Adaptive Fuzzy and Robust H∞ Compensation Control for Uncertain Robot

Yuan Chen (Shandong University at Weihai)
Guangying Ma (Shandong University at Weihai)
Shuxia Lin (Shandong University at Weihai)
Jun Gao (Shandong University at Weihai)

Article Info

Publish Date
01 Dec 2013

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

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Journal Info
IAES International Journal of Robotics and Automation (IJRA)
Website

Abbrev

IJRA

Publisher

Institute of Advanced Engineering and Science

Subject

Automotive Engineering Electrical & Electronics Engineering

Description

Robots are becoming part of people's everyday social lives and will increasingly become so. In future years, robots may become caretaker assistants for the elderly, or academic tutors for our children, or medical assistants, day care assistants, or psychological counselors. Robots may become our ...