Adaptive Fuzzy Control for A Single-Link Flexible-Joint Robotic Manipulator with Output Constraint

摘要

An adaptive fuzzy controller is designed in this paper for a single-link flexible-joint robotic manipulator subject to output constraint. The fuzzy logic systems are employed to identify the unsuspected nonlinearity. The barrier Lyapunov function is constructed to guarantee that the output of the robotic manipulator is not to violate it constraint. The event-driven control law is developed based on fixed threshold approach so as to reduce the occupation of communication channel bandwidth. Incorporating the backstepping technique and Lyapunov stability theory, the proposed control strategy ensures all variables in the flexible-joint robotic manipulator are bounded, and the tracking error converges to the origin with a small scale. A series of simulation results are given to illustrate the efficacy of the developed control strategy.