Direct Adaptive Fuzzy Control for Robots in Cartesian Space

In this paper, a kind of direct fuzzy adaptive controller with H_infin compensation is applied to robot manipulators with uncertainty in Cartesian space. The direct fuzzy adaptive controller is derived from fuzzy logic system as the master one, and the additional H_infin compensation controller is employed to attenuate both the effects of fuzzy approximation error and external disturbance. In addition, the number of fuzzy rules and the adjustable parameters of the fuzzy logic system are both less than that of indirect fuzzy adaptive control. The Lyapunov stability analysis and simulation results have proven the effectiveness of the approach.