Decentralized adaptive fuzzy control for manipulator based on extended state observer

A decentralized control method based on the extended state observer and fuzzy strategies for manipulators with interconnection terms is presented. The manipulator system is considered for the set of crosslinking joint subsystems, and the extended state observer (ESO) is adopted to estimate real-timely states of each joint and the interconnection terms of the joints and nonlinear terms. Modeling uncertain terms are approached by the fuzzy system so as to design the decentralized adaptive fuzzy controller to achieve trajectory tracking control. The adaptive update law of controller parameter is given and controller stability is analyzed by the Lyapunov theory. The proposed method is applied to the trajectory tracking control of 4-DOF manipulators. Simulation results show the effectiveness of the proposed method in treatment of the interconnection terms and trajectory tracking control of each joint.