Abstract：A variable universe fuzzy controller whose universe can be adjusted by contraction-expansion factor in real time is proposed to optimize the trajectory tracking effect of the manipulator. Firstly, a scale-exponential hybrid contraction-expansion factor whose functional form is related to the dynamic weight of joint-angle deviation and joint-deviation variation is designed. Secondly, the desired joint-trajectory in cartesian space is calculated by using the time-optimal path-following algorithms. Finally, the simulation of the trajectory tracking control of a three-joint manipulator is realized by using the designed variable universe fuzzy controller, and the trajectory tracking error is analyzed further. The simulation results show that the designed variable universe fuzzy controller using scale-exponential hybrid contraction-expansion factor has the advantage of better trajectory tracking control effect, faster response speed, smaller steady-state error and no overshoot.
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2020, Vol. 41 
