Adaptive fuzzy compensation based composite nonlinear feedback controller design for robot manipulators

作     者：Jiang Yuan Gong Chenglong Dai Jiyang 蒋沅;Gong Chenglong;Dai Jiyang

作者机构：College of Information EngineeringNanchang Hangkong UniversityNanchang 330063P.R.China School of Engineering ScienceUniversity of Chinese Academy of SciencesBeijing 100049P.R.China 

出 版 物：《High Technology Letters》 (高技术通讯（英文版）)

年 卷 期：2019年第25卷第4期

页      面：426-433页

核心收录：

学科分类：08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置] 

基　　金：Supported by the National Natural Science Foundation of China(No.61663030,61663032) Natural Science Foundation of Jiangxi Province(No.20142BAB207021) the Foundation of Jiangxi Educational Committee(No.GJJ150753) the Innovation Fund Designated for Graduate Students of Nanchang Hangkong University(No.YC2017027) the Open Fund of Key Laboratory of Image Processing and Pattern Recognition of Jiangxi Province(Nanchang Hangkong University)(No.TX201404003) Key Laboratory of Nondestructive Testing(Nanchang Hangkong University),Ministry of Education(No.ZD29529005) the Reform Project of Degree and Postgraduate Education in Jiangxi(No.JXYJG-2017-131) 

主　　题：robot uncertainty composite nonlinear feedback(CNF) adaptive fuzzy control system convergence 

摘      要：In order to suppress the influence of uncertain factors on robot system and enable an uncertain robot system to track the reference input accurately,a strategy of combining composite nonlinear feedback(CNF)control and adaptive fuzzy control is studied,and a robot CNF controller based on adaptive fuzzy compensation is *** key of this strategy is to use adaptive fuzzy control to approach the uncertainty of the system online,as the compensation term of the CNF controller,and make full use of the advantages of the two control methods to reduce the influence of uncertain factors on the performance of the *** convergence of the closed-loop system is proved by feedback linearization and Lyapunov *** final simulation results confirm the effectiveness of this plan.