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Chen Wuwei
School of Mechanical and
Automotive Engineering,
Hefei University of Technology,
Hefei 230009, China
James K Mills
Department of Mechanical and
Industrial Engineering,
University of Toronto
Sun Dong
Department of Manufacturing Engineering and
Engineering Management,
City University of Hong Kong |
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A FUZZY UNCERTAINTY
COMPENSATOR FOR MANIPULATOR
TRAJECTORY TRACKING
Abstract:
A novel fuzzy logic compensating (FLC) scheme is proposed to
enhance the conventional computed-torque control (CTC) structure
of manipulators. The control scheme is based on the combination
of a classical CTC and FLC, and the resulting control scheme has
a simple structure with improved robustness. Further improvement
of the performance of the FLC scheme is achieved through
automatic tuning of a weight parameter
a
leading to a self-tuning fuzzy logic compensator, so the system
uncertainty can be compensated very well. By taking into account
the full nonlinear nature of the robotic dynamics, the overall
closed-loop system is shown to be asymptotically stable.
Experimental results demonstrate the effectiveness of the
computed torque and fuzzy compensation scheme to control a
manipulator during a trajectory tracking task.
Key words:
Manipulator Trajectory tracking Fuzzy compensator |