A fuzzy adaptive control
strategy is proposed to study the adaptive position tracking control of a novel
reconfigurable robot system. The proposed fuzzy adaptive controller can
approximate the model uncertainty of systems, referring mainly to the friction
and external disturbance in the automatic generated Newton-Euler dynamic
equations. The Lyapunov synthesis approach is used to tune the output weight of
the fuzzy controller adaptively in order to guarantee the stability of the
closed-loop control system. A robust term is adopted to minify the influence of
the modeling error and enhance the whole system's robustness. Finally, the
proposed adaptive controller is applied to two different configurations of the
same reconfigurable robot which is composed of three modules, and the
comparison experiment results show that this control method can quickly adapt
to the configuration changes and has good tracking performance, which
demonstrates the effectiveness and feasibility of the proposed method.