The Design of Robotic Arm Adaptive Fuzzy Controller Based on Oscillator and Differentiator

Authors

  • Wan Min Southwest Petroleum University
  • Tian Qinglan Southwest Petroleum University
  • Sun Chuanhong Southwest Petroleum University
  • Yi Xiuyuan Southwest Petroleum University

DOI:

https://doi.org/10.3991/ijoe.v15i05.8895

Keywords:

Robotic arm, Adaptive Fuzzy Controller, Second Order Oscillator, Second Order differentiator that converges in finite time

Abstract


State variables are acquired when tracking the trace of the robotic arm with adaptive fuzzy controller. Since some variables are difficult to or cannot be measured directly, we introduced the second order oscillator and the second order differentiator that converges in finite time to obtain the value of each state variable. In this paper, a model based on the dynamics analysis of robotic arm was build to design the second order oscillator and the second order differentiator that converges in finite time to obtain the value of each state variable. The designed adaptive fuzzy controller for robotic arm achieved high accuracy in trace tracking. Simulation results of two-link robotic arm show the adaptive fuzzy controller for robotic arm based on differentiators is adaptable, flexible. This controller is simple to design, easy to implement, and has a good value for the application of robotic arm system.

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Published

2019-03-14

How to Cite

Min, W., Qinglan, T., Chuanhong, S., & Xiuyuan, Y. (2019). The Design of Robotic Arm Adaptive Fuzzy Controller Based on Oscillator and Differentiator. International Journal of Online and Biomedical Engineering (iJOE), 15(05), pp. 47–68. https://doi.org/10.3991/ijoe.v15i05.8895

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Papers