Adaptive Fuzzy and Robust H∞ Compensation Control for Uncertain Robot

Yuan Chen, Guangying Ma, Shuxia Lin, Jun Gao


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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IAES International Journal of Robotics and Automation (IJRA)
ISSN 2089-4856, e-ISSN 2722-2586
This journal is published by the Institute of Advanced Engineering and Science (IAES) in collaboration with Intelektual Pustaka Media Utama (IPMU).

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