Abstract:

There are friction characteristics, random disturbances, load variations and other nonlinear influencing factors in the multijoint manipulator system generally. According to the problem that the traditional PID and fuzzy control are difficult to achieve rapid and highprecision tracking control for this kind of systems, a robust adaptive fuzzy control law is  designed based on fuzzy compensation under the circumstance that the fuzzy information can be known and all the state variables can be measured. Simultaneously, in order to reduce the computational load of fuzzy approximation and improve the efficiency of mathematical operation, a method of  distinguishing different disturbance compensation terms and approximating each of them respectively is adopted. The simulation results show that the robust adaptive fuzzy control based on fuzzy compensation can restrain friction, disturbance, load variations and other nonlinear influencing factors.

Key words: fuzzy compensation;manipulator;robust adaptive fuzzy control;nonlinear