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

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.

Keywords

• Non-linear manipulator
• adaptive control
• fuzzy control
• lyapunov stability