A robust fuzzy controller for multiple tentacle cooperative robots

A robust control system is proposed to solve the local control for a multi-chain robotic system formed by tentacle manipulators grasping a common object with hard point contacts. The two-level hierarchical control is adopted. The upper level coordinator gathers all the necessary information to resolve the distribution force. Then, the lower-level local control problem is treated as an open-chain redundant manipulator control problem. The stability and robustness of a class of the fuzzy logic control (FLC) are investigated and a robust FLC is proposed with uncertainties of the load. The fuzzy rules are established. Simulation results are presented and discussed