Hybrid adaptive fuzzy controllers with application to robotic systems

摘要

This paper presents a hybrid adaptive fuzzy control (HAFC) design methodology, where the nonlinear system is controlled by a state feedback controller and an adaptive fuzzy controller. In the adaptive fuzzy controller, an adaptive law is developed to tune a robust gain of the sliding-mode controller (SMC) so as to cope with the uncertainties and model errors. The proposed design method is applied to investigate the position and tracking control of a two-link robot. A comparison between the proportional-derivative control, SMC, adaptive control and the proposed HAFC for a two-link robot is made. The simulation results demonstrate that, by using the HAFC, the system performances is improved and the system also exhibits stability and robustness.