An Adaptive Fuzzy Control Model for Multi-Joint Manipulators

Multi-joint manipulator systems are subject to nonlinear influences such as frictional characteristics, random disturbances and load variations. To account for uncertain in the operation of manipulators, we propose an adaptive control method based on a multi-joint fuzzy system, which upper bound information system is constant state variables measurable. The algorithm MIMO (multi-input-multi-output) that can approximate error by using robust law eliminate shadow caused approximation error. It ensure stability complex reduce number rules required. Comparison experimental simulation data shows controller designed this has highly-precise trajectory-tracking robotic with characteristics non-linearity, coupling uncertainty. Therefore, proposed good practical application prospects promotes development systems.