Fractional-order fuzzy adaptive controller design for uncertain robotic manipulators. (3rd April 2019)

• Record Type: Journal Article
• Authors: Deng, Yanping
• Is Part Of: International journal of advanced robotic systems. Volume 16:Number 2(2019:Mar./Apr.)
• Publication Date: 2019-04-03
• Subjects: Adaptive fuzzy control -- fractional fuzzy control -- robotic manipulator -- sliding mode control; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881419840223
• Languages: English
• ISSNs: 1729-8806

Abstract

A sliding mode adaptive fractional fuzzy control is provided in this article to achieve the trajectory tracking control of uncertain robotic manipulators. By adaptive fractional fuzzy control, we mean that fuzzy parameters are updated through fractional-order adaptation laws. The main idea of this work consists in using fractional input to control complex integer-order nonlinear systems. An adaptive fractional fuzzy control that guarantees tracking errors tend to an arbitrary small region is established. To facilitate the stability analysis, fractional-order integral Lyapunov functions are proposed, and the integer-order Lyapunov stability criterion is used. Finally, simulation results are presented to show the effectiveness of the proposed method.