Dynamic surface control for a class of manipulator with uncertainties

Author

Chen Jianye ; Liu Shirong ; Shi Xianpeng

Author_Institution

Inst. of Autom., Hangzhou Dianzi Univ., Hangzhou, China

fYear

2010

fDate

29-31 July 2010

Firstpage

3741

Lastpage

3746

Abstract

In this paper, a new method for the robust control of n-link rigid manipulator with model and disturbance uncertainties is proposed. The proposed control system is that the uncertainty of manipulator is approximated using an adaptive fuzzy system, and a dynamic surface control (DSC) method is used to design the system controller. The weight adaptive laws of adaptive fuzzy system are derived from Lyapunov stability analysis, and the global uniform ultimate boundedness (GUUB) stability with exponential convergence is proved. Finally, simulation results for a two-link manipulator are utilized to validate the good position tracking performance and robustness against payload uncertainties and external disturbances of the control system.

Keywords

Lyapunov methods; adaptive systems; control system synthesis; convergence; fuzzy systems; manipulators; robust control; Lyapunov stability analysis; adaptive fuzzy system; disturbance uncertainties; dynamic surface control; exponential convergence; global uniform ultimate boundedness; n-link rigid manipulator; Adaptive systems; Control systems; Electronic mail; Fuzzy systems; Manipulator dynamics; Uncertainty; Adaptive Fuzzy System; Dynamic Surface Control; Manipulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2010 29th Chinese

Conference_Location

Beijing

Print_ISBN

978-1-4244-6263-6

Type

conf

Filename

5573694