Adaptive Fuzzy Controller Design for Uncertain Robotic Manipulators Subject to Nonlinear Dead Zone Inputs

This paper comes up with the adaptive fuzzy scheme for multi-degree robotic manipulators with dead zone. Fuzzy logic system is employed to approximate unknown nonlinear functions and input nonlinear functions with dead zones that are introduced. The adaptive fuzzy technique is utilized to deal with...

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Bibliographic Details
Published inComputational intelligence and neuroscience Vol. 2022; pp. 1 - 8
Main Author Zhang, Hua
Format Journal Article
LanguageEnglish
Published New York Hindawi 20.09.2022
John Wiley & Sons, Inc
Subjects
Approximation
Automation
Control systems design
Controllers
Design
Fuzzy control
Fuzzy logic
Manipulators
Robot arms
Robotics
Tracking errors
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Summary:This paper comes up with the adaptive fuzzy scheme for multi-degree robotic manipulators with dead zone. Fuzzy logic system is employed to approximate unknown nonlinear functions and input nonlinear functions with dead zones that are introduced. The adaptive fuzzy technique is utilized to deal with the problems of multi-joint robotic manipulators with unknown nonlinear functions in dead zones. Based on Lyapunov criterion, all the states and signals involved in the system are maintained in a certain bounded region and the tracking error converges to a small domain of origin. Finally, a simulation example of robotic manipulators with two joints is structured to confirm the practicability of the raised scheme.
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Academic Editor: Heng Liu
ISSN:1687-5265
1687-5273
1687-5273
DOI:10.1155/2022/9173249