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<p>Considering that the compliant actuator is significant for safe human–robot interaction and the existing studies for compliant actuator can only guarantee the infinite-time stability of systems, a predefined-time control is considered for robotic manipulators with unknown compliant actuators in this article. To deal with unknown nonlinear dynamics of the compliant actuators, fuzzy logic systems are first adopted to model them. Then, by applying an adaptive fuzzy control method, new controllers and parameter adaptive laws&#xa0;are designed. For the purpose of predefined-time stability for robotic manipulators, a novel inequality is established in Lemma <InternalRef RefID="FPar8">6</InternalRef>. Under the proposed control scheme and Lemma <InternalRef RefID="FPar8">6</InternalRef>, the predefined-time stability of the robotic manipulators is guaranteed. Compared with the existing studies for robotic manipulators with compliant actuators, the stability time can be set in advance according to an actual requirement in this study, which is more interesting in practical engineering.</p>

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Predefined-Time Fuzzy Control for Robotic Manipulators Driven by Compliant Actuators

  • 期刊论文

  • 发表日期：

    2025年2月18日

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  • Wentong Zhang

摘要

Considering that the compliant actuator is significant for safe human–robot interaction and the existing studies for compliant actuator can only guarantee the infinite-time stability of systems, a predefined-time control is considered for robotic manipulators with unknown compliant actuators in this article. To deal with unknown nonlinear dynamics of the compliant actuators, fuzzy logic systems are first adopted to model them. Then, by applying an adaptive fuzzy control method, new controllers and parameter adaptive laws are designed. For the purpose of predefined-time stability for robotic manipulators, a novel inequality is established in Lemma 6. Under the proposed control scheme and Lemma 6, the predefined-time stability of the robotic manipulators is guaranteed. Compared with the existing studies for robotic manipulators with compliant actuators, the stability time can be set in advance according to an actual requirement in this study, which is more interesting in practical engineering.