Trajectory tracking control of a planar constrained manipulator through a direct adaptive fuzzy control approach

This paper presents a general methodology of adaptive control for a parallel or constrained manipulator based on its Takagi-Sugeno (T-S) fuzzy model. The problem of controller parameter adaption is accomplished using a direct approach, i.e. the controller parameters are estimated without explicitly estimating plant parameters or uncertainties. In the nonlinear dynamic equations of parallel manipulators, dependent and independent general coordinates are spitted in order to reduce linearization process complexity. The main advantage of the method is simplicity to implement in a wide range of industrial processes. The fuzzy and adaptive fuzzy methods have been applied to control of a two-link constrained manipulator and performances of the two controllers to accomplish trajectory tracking goal have been analyzed and compared numerically.