Discrete-time indirect adaptive fuzzy control for robot manipulators

TLDR: This paper addresses how to overcome the approximation error of the fuzzy system and uncertainties for asymptotic tracking control of robotic manipulators.

Abstract: Purpose – The purpose of this paper is to design a discrete indirect adaptive fuzzy controller for a robotic manipulator. This paper addresses how to overcome the approximation error of the fuzzy system and uncertainties for asymptotic tracking control of robotic manipulators. The uncertainties include parametric uncertainty, un-modeled dynamics, discretization error and external disturbances. Design/methodology/approach – The proposed controller is model-free and voltage-based in the form of discrete-time Mamdani fuzzy controller. The parameters of fuzzy controller are adaptively tuned for asymptotic tracking of a desired trajectory. A robust control term is used to compensate the approximation error of the fuzzy system. An adaptive mechanism is derived based on the stability analysis. Findings – The proposed model-free discrete control is robust against all uncertainties associated with the robot manipulator and actuators. The approximation error of the fuzzy system is well compensated to achieve asympt...