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Robust amplitude-limited interval type-3 neuro-fuzzy controller for robot manipulators with prescribed performance by output feedback

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Abstract

This paper proposes a new observer-based bounded adaptive fuzzy controller for robotic manipulators with a prescribed performance subjected to uncertainties. To this end, interval type-3 fuzzy logic systems are introduced, and the system uncertainties are roughly modeled by an interval type-3 fuzzy neural network. The proposed controller is designed based on a robust adaptive command-filtered backstepping control scheme. Projection-type adaptive laws and saturation functions are effectively utilized to guarantee that actuator limitations are not violated by calculating the maximum required control signals a priori. The actuator disturbances and external perturbations are compensated by the designed robust control scheme. Furthermore, a high-gain observer is applied to estimate unmeasurable states. To improve the transient performance and to achieve better steady-state tracking errors, the prescribed performance control is suggested. The stability of the suggested closed-loop control system is studied by the Lyapunov theorem, and system signals are proved to be uniformly ultimately bounded. Lastly, simulation results show the potency of the proposed control method.

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Authors and Affiliations

  1. Department of Electrical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, Iran

    Omid Elhaki & Khoshnam Shojaei

  2. Digital Processing and Machine Vision Research Center, Najafabad Branch, Islamic Azad University, Najafabad, Iran

    Khoshnam Shojaei

  3. Multidisciplinary Center for Infrastructure Engineering, Shenyang University of Technology, Shenyang, 110870, China

    Ardashir Mohammadzadeh

  4. Department of Applied Mathematics, Bharathiar University, Coimbatore, 641046, India

    Sakthivel Rathinasamy

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  1. Omid Elhaki
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  2. Khoshnam Shojaei
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  3. Ardashir Mohammadzadeh
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  4. Sakthivel Rathinasamy
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Correspondence to Khoshnam Shojaei.

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Elhaki, O., Shojaei, K., Mohammadzadeh, A. et al. Robust amplitude-limited interval type-3 neuro-fuzzy controller for robot manipulators with prescribed performance by output feedback. Neural Comput & Applic 35, 9115–9130 (2023). https://doi.org/10.1007/s00521-022-08174-5

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