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An Adaptive Fuzzy Controller for Trajectory Tracking of Robot Manipulator

Author(s): Amol A. Khalate | Gopinathan Leena | Goshaidas Ray

Journal: Intelligent Control and Automation
ISSN 2153-0653

Volume: 02;
Issue: 04;
Start page: 364;
Date: 2011;
Original page

Keywords: Parametric Uncertainty | Lyapunov’s Stability | Adaptive Control | Fuzzy Control | Robotic Manipulator

In this paper, an adaptive fuzzy control algorithm is proposed for trajectory tracking of an n-DOF robot manipulator subjected to parametric uncertainty and it is advantageous compared to the conventional nonlinear saturation controller. The asymptotic stability of the proposed controller has been derived based on Lyapunaov energy function. The design procedure is straightforward due to its simple fuzzy rules and control strategies. The simulation results show that the present control strategy effectively reduces the control effort with negligible chattering in control torque signals in comparison to the existing nonlinear saturation controller.
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