Finite-time adaptive fuzzy position/force control for time-varying constrained coordinated multiple manipulators

摘要

For the position/force control problem of time-varying constrained coordinated multiple manipulators, a finite-time adaptive fuzzy position/force control strategy is proposed. The task space dynamic model for the system is given in this paper. To solve the uncertainties, the adaptive fuzzy control is utilized to approximate the function of uncertainties, and the robust control is added to compensate the approximation error. With the conventional linear sliding mode abandoned, the terminal sliding mode which can improve the dynamic performance of system is adopted. The Lyapunov stability analysis demonstrates that the proposed strategy can guarantee the boundedness of internal force error and the finite-time convergence of position error and constraint force error. Simulation results of two planar two-link time-varying constrained manipulators are presented to validate the proposed method.