Designing a Fuzzy Adaptive Controller for a Rigid joint Two Link Non-Linear Manipulator with Uncertainty

Subject Areas : Adaptive control

Maryam Montazeri ¹ , Seyed Hamid Mahmoodian ²

1 - Ms.C /Najafabad Branch, Islamic Azad University
2 - Assistant Professor/Najafabad Branch, Islamic Azad University

Received: 2011-05-08 Accepted : 2012-11-15 Published : 2013-01-01

Keywords: Adaptive control, fuzzy control, Lyapunov Stability, Non- linear manipulator,

Abstract :

This paper presents a control approach to the fuzzy-adaptive control scheme for rigid manipulators with unknown parameters. Lagrange’s method is employed for computing robot motion dynamics. Stability analysis guaranteed through Lyapunov’s theory using some suitable adaptive rules that make sure all signals in the closed-loop system are bounded and tracking error ones asymptotically reaches to zero. Compared with other controllers, there are some numerical simulations that verify effectiveness of the proposed method. Also, simulation results verify that the proposed controller can deal with uncertainties in the system.