Adaptive control of robot manipulators using fuzzy compensator. I

An adaptive controller for the robot manipulator which has the parametric uncertainties is designed. In order to compensate these uncertainties, we use FLS (fuzzy logic system) that has the capability to approximate any nonlinear function with the compact input space. In the proposed control scheme, we need not derive the linear formulation of robot dynamics. To reduce the number of fuzzy rules of FLS, we consider the properties of robot dynamics and the decomposition of the uncertainty function. The proposed controller is robust not only to the structured uncertainties such as payload parameters, but also to the unstructured one such as friction model and disturbance. The validity of the control scheme is shown through the computer simulations of two-link planar robot manipulator