Globally Guaranteed Robustness Adaptive Fuzzy Control with Application on Highly Uncertain Robot Manipulators(Systems and Control)

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概要

• 論文の詳細を見る

• This study proposes a novel adaptive fuzzy control methodology to remove disadvantages of traditional fuzzy approximation based control. Meanwhile, the highly uncertain robot manipulator is taken as an application with either guaranteed robust tracking performances or asymptotic stability in a global sense. First, the design concept, namely, feedforward fuzzy approximation based control, is introduced for a simple uncertain system. Here the desired commands are utilized as the inputs of the Takagi-Sugeno (T-S) fuzzy system to closely compensate the unknown feedforward term required during steady state. Different to traditional works, the assumption on bounded fuzzy approximation error is not needed, while this scheme allows easier implementation architecture. Next, the concept is extended to controlling manipulators and achieves global robust tracking performances. Note that a linear matrix inequality (LMI) technique is applied and provides an easier gain design. Finally, numerical simulations are carried out on a two-link robot to illustrate the expected performances.

• 社団法人電子情報通信学会の論文
• 2005-04-01

著者

• Chiu Chian‐song

  Chung‐yuan Christian Univ. Chungli Twn

• CHIU Chian

  Department of Electronic Engineering, Chien-Kuo Technology University

関連論文

• Robust Fuzzy Integral Regulator Design for a Class of Affine Nonlinear Systems(Systems and Control)
• Robust Chaotic Message Masking Communication over Noisy Channels : The Modified Chaos Approach(Systems and Control)
• Globally Guaranteed Robustness Adaptive Fuzzy Control with Application on Highly Uncertain Robot Manipulators(Systems and Control)

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