Decentralized Adaptive Fuzzy Control for Reconfigurable Manipulators

A decentralized adaptive fuzzy control scheme for reconfigurable manipulators is proposed to satisfy the concept of modular software. The dynamics of reconfigurable manipulators is represented as a set of interconnected subsystems. The fuzzy logic systems are used to model the unknown dynamics of subsystem and the interconnection term. Based on Lyapunov stability theorem, the stability of the closed-loop systems can be verified. Moreover, the proposed control scheme guarantees that variables involved are bounded and the H^iquest tracking performance is achieved. The simulation results are presented to show the effectiveness of the proposed decentralized adaptive fuzzy control scheme.