Yanzan Han1,*, Huawen Zhang1, Zengfang Shi1, Shuang Liang2
Computer Systems Science and Engineering, Vol.40, No.3, pp. 1043-1057, 2022, DOI:10.32604/csse.2022.017742
Abstract Multi-joint manipulator systems are subject to nonlinear influences such as frictional characteristics, random disturbances and load variations. To account for uncertain disturbances in the operation of manipulators, we propose an adaptive manipulator control method based on a multi-joint fuzzy system, in which the upper bound information of the fuzzy system is constant and the state variables of the manipulator control system are measurable. The control algorithm of the system is a MIMO (multi-input-multi-output) fuzzy system that can approximate system error by using a robust adaptive control law to eliminate the shadow caused by approximation error. It can ensure the stability… More >
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