Force Optimization of Robotic Control Based on Fuzzy Rules Against the Saturation of Actuators

Aiming at the decreasing performance of robotic system under the constraints of actuators, this paper presents some passive fault tolerant robotic control strategies, which are based on the analysis of Lyapunov function. In this process, using the idea of high-gain feedback, the requirement of high-level outputs of the actuators is limited, and at the same time the convergent performance is optimized by a fuzzy-sets method from which the actuating fault tolerant control is realized in robotic manipulators. Simulations validate the effectiveness of the given controllers