Robust Tracking Control for Robotic Manipulator via Fuzzy Logic System andH∞Approaches

Author:

Mu Kun1,Liu Cong2,Peng Jinzhu34ORCID

Affiliation:

1. Department of Computer Science and Engineering, Henan Institute of Engineering, Zhengzhou, Henan 451191, China

2. College of Information & Business, Zhongyuan University of Technology, Zhengzhou, Henan 450001, China

3. School of Electrical Engineering, Zhengzhou University, Zhengzhou, Henan 450007, China

4. Henan Senyuan Electric Co. Ltd., Zhengzhou, Henan 450047, China

Abstract

Based on fuzzy logic system (FLS) andHcontrol methodologies, a robust tracking control scheme is proposed for robotic system with uncertainties and external disturbances. FLS is employed to implement the framework of computed torque control (CTC) method via its approximate capability which is used to attenuate the nonlinearity of robotic manipulator. The robustHcontrol can guarantee robustness to parametric and dynamics uncertainties and also attenuate the effect of immeasurable external disturbances entering the system. Moreover, a quadratic stability approach is used to reduce the conservatism of the conventional robust control approach. It can be guaranteed that all signals in the closed-loop are bounded by employing the proposed robust tracking control. The validity of the proposed control scheme is shown by simulation of a two-link robotic manipulator.

Funder

China Postdoctoral Science Foundation

Publisher

Hindawi Limited

Subject

Electrical and Electronic Engineering,Computer Science Applications,Modeling and Simulation

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