T-S Fuzzy Adaptive Control Based on Small Gain Approach for an Uncertain Robot Manipulators

被引:24
作者
Fan, Yongqing [1 ]
An, Yue [1 ]
Wang, Wenqing [1 ]
Yang, Chenguang [2 ]
机构
[1] Xian Univ Posts & Telecommun, Sch Automat, Post Box 494, Xian 710121, Shaanxi, Peoples R China
[2] Univ West England, Bristol Robot Lab, Bristol BS16 1QY, Avon, England
基金
中国国家自然科学基金; 英国工程与自然科学研究理事会;
关键词
T-S fuzzy logic system; Adaptive control; Input-to-state stability (ISS); Robot manipulators; Small gain theorem; FEEDBACK NONLINEAR-SYSTEMS; TRACKING CONTROL; NEURAL-NETWORKS; DESIGN; APPROXIMATION; STABILIZATION; MODEL;
D O I
10.1007/s40815-019-00793-w
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this paper, a T-S (Takagi-Sugeno) adaptive tracking algorithm control based on small gain theorem is proposed for an uncertain robot system with n-link manipulators. A nonzero time-varying parameter is introduced in the common T-S fuzzy logic system, the T-S type fuzzy logic system with updated parameters laws is build, then the new and original universal approximation with parameter is introduced. The approximation accuracy can be updated on-line by the parameters, which is not limited by the number of fuzzy rules. With the novel property of universal approximation, the proposed adaptive control can be synthetized to overcome the limitations such as on-line learning computation burden in conventional fuzzy logic systems. The originality T-S fuzzy logic system is used to compensate the unknown model of robot manipulators and the adaptive tracking control algorithm is designed with the new property of universal approximation. Based on the analysis of small gain theorem and ISS theory (input-to-state stability), all signals in closed-loop system can be guaranteed to be bounded, and the system can be extended from semi-global stability to global stability by employing the proposed adaptive control scheme. Finally, simulation results are shown to demonstrate the effectiveness of the adaptive control scheme.
引用
收藏
页码:930 / 942
页数:13
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