Dual mode adaptive robust control of robot manipulator with dynamic gain TV-BLF and hybrid fuzzy RBF compensation

This article proposes a dual-mode adaptive robust control framework for robotic manipulators under interference conditions. A novel time-varying barrier Lyapunov function (TV-BLF) with hybrid dynamic gains is designed to enhance transient performance and dynamic convergence, combining inertial energy terms and adaptive barrier constraints. The controller adopts the strategy of fuzzy logic system (FLS) and radial basis function neural network (RBFNN) cooperative control. Several sets of experimental validations confirm that the method has higher tracking accuracy, anti-jamming robustness and adaptability to dynamic changes compared with the traditional method.