Adaptive control of robot manipulators using fuzzy compensator. II

For pt.I see ibid. p.35-40 (1999). An adaptive controller for the robot manipulator which has the parametric uncertainties is designed. In order to compensate these uncertainties, we use the FLS (fuzzy logic system) that has the capability to approximate any nonlinear function with the compact input...

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Bibliographic Details
Main Authors: Byung Kook Yoo, Woon Chul Ham
Format: Conference Proceeding
Language:English
Subjects:
Adaptive control
Fuzzy control
Fuzzy logic
Manipulator dynamics
Nonlinear dynamical systems
Orbital robotics
Programmable control
Robot control
Robust control
Uncertainty
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Summary:For pt.I see ibid. p.35-40 (1999). An adaptive controller for the robot manipulator which has the parametric uncertainties is designed. In order to compensate these uncertainties, we use the FLS (fuzzy logic system) that has the capability to approximate any nonlinear function with the compact input space. In the proposed control scheme, we need not derive the linear formulation of robot dynamics. To reduce the number of fuzzy rules of FLS, we consider the decomposition of the uncertainty function. The proposed controller is robust not only to the structured uncertainties such as payload parameters, but also to the unstructured one such as friction model and disturbance. The validity of the control scheme is shown through the computer simulations of two-link planar robot manipulator.
DOI:10.1109/IROS.1999.812980