A PD robot controller with a fuzzy adaptive gravity compensation
Pan, Lei, writer on engineering
MetadataShow full item record
Fuzzy logic is often used in situations where there is a large uncertainty or unknown variation in plant parameters and structures. Because a robot is a strong nonlinear, high-order and dynamic coupling system for which there are many uncertainties or unknowns, it should be an efficient strategy to employ fuzzy logic in a robot system. This thesis presents a PD robot controller with fuzzy adaptive gravity compensation. The main idea is to use fuzzy adaptive logic controller to compensate for the gravity term of robot manipulators. This controller is designed by using Liapunov’s stability approach which guarantees the system’s stability. Simulation is implemented in a two-link robot by using MATLAB and SIMULINK. The results show that this fuzzy adaptive controller makes the robot link converge to a desired position. Compared with conventional PID and adaptive controllers, this controller is more robust and has fewer requirements for the robot system.