Adaptive PD fuzzy control with dynamic learning rate for two-wheeled balancing six degrees of freedom robotic arm

摘要

The paper proposes a novel method for enhanced fusion adaptive fuzzy control in the two-wheeled balancing six degrees of freedom robotic arm. The two-wheeled mobile robot system and six degrees of freedom robotic arm are integrated into the mobile robot system. Due to the motion of the robot arm, the stability issue becomes more complex. This study employs the adaptive fuzzy control to provide suitable controller for the mobile robot system. In addition, a dynamic learning rate can effectively improve the learning performance. In order to show the superiority of the proposed controller, this paper compares our proposed method with other control methods as proportional-derivative (PD) controller, fuzzy controller, adaptive fuzzy controller, PD fuzzy controller, and adaptive PD controller. The experiment results clearly demonstrate that the proposed control method has much faster convergent speed and is very well performed.