Adaptive Fuzzy H∞ Robust Control For Manipulators In MIMO Systems

摘要

An adaptive fuzzy sliding mode robust control algorithm based on fuzzy compensation is proposed for the uncertain items, such as friction, unknown disturbances. An adaptive fuzzy system is used to approximate the unknown nonlinear term, the parameter adaptive law of fuzzy system is designed by using Lyapunov function, eliminating the dependence on prior knowledge. Finally, the effectiveness of the control algorithm is verified by the simulation experiment of the two degree of freedom manipulator.