Robust fuzzy adaptive control of manipulators based on the generalized hyperbolic model
基于广义双曲正切模型的机器人鲁棒模糊自适应控制

Taking advantage of the property of the generalized hyperbolic model:a universal approximator,a fuzzy adaptive controller is proposed for the trajectory tracking control of robotic manipulator.Firstly,by translating the input variables,a generalized hyperbolic model can approximate to any uncertain dynamics by an arbitrary accuracy.For the external disturbances and the approximation errors,a linear matrix inequality(LMI) problem is then solved to guarantee the robustness of the closed-loop.Being different from the traditional fuzzy-based function,the hyperbolic model uses fewer updated parameters to guarantee a satisfactory tracking performance.Finally,numerical simulations are carried out to show the expected robustness and tracking accuracy.