Abstract:

In order to improve the manipulator system whose mechanical model of tracking precision is uncertain, a robust trajectory tracking control method, which is self-adaptive and based on an operational space, was researched. And taking into account the presence of unknown external disturbances and other non-modeled
dynamics, GL(General Linear) matrix and its multiplication operator were introduced and the ability of fuzzy systems was applied to approximate any nonlinear function which could render feedforward compensation to the manipulator dynamics. Modeling errors and bounded disturbances were inhibited through robust controls. This method does not need to solve the dynamic model when manipulator is in the operational space. According to Lyapunov stability theory, the stability of the system was proved. Finally, a relatively high effect of trajectory tracking control was ascertained by the simulation experiment on the designed controller.

Key words: operational space, manipulator, fuzzy control, adaptive control, robust control