Fuzzy Adaptive Switching Control for an Uncertain Robot Manipulators with Time-Varying Output Constraint

摘要

An adaptive control strategy based on a fuzzy logic system by introducing a nonzero time-varying parameter is studied for an n-link manipulator system with the condition of a complex environment. At the beginning, a universal approximator with a one time-varying parameter is proposed based on the analysis of the fuzzy logic system, which is utilized to equalize uncertainties in robot manipulators with time-varying output constraints. The novel design method is used to reduce greatly the online learning computation burden compared with traditional fuzzy adaptive control. The output and the position of robotic manipulators are constrained with time-varying, a good tracking performance can be guaranteed with the condition of unknown dynamics of robot manipulators, and the violation of constraints can be conquered by the analysis based on the barrier Lyapunov function. A switching adaptive control is proposed to extend the semiglobal stability to global stability. Effectiveness of the approach is demonstrated by simulation results.