Fuzzy indirect adaptive controller for manipulator trajectory tracking applications

被引：0
|
作者：
Wu, Yu-Xiang [1 ]
Wang, Hao [1 ]
Mao, Zong-Yuan [1 ]
Tam, Peter K.S. [2 ]
机构：
[1] Coll. of Automat. Sci. and Eng., South China Univ. of Technol., Guangzhou 510640, China
[2] Hong Kong Polytech. Univ., Hong Kong, Hong Kong
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2004年 / 21卷 / 05期
关键词：
Adaptive control systems - Flexible manipulators - Fuzzy control - Intelligent control - Real time systems - Tracking (position);
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In order to apply the existing fuzzy control algorithm to real time control of multi-DOF robot manipulator, the original indirect adaptive fuzzy control algorithm was extended from the SISO case to the MIMO case, a strict mathematical description for each step was given and its convergence was proved. The constructed controller was further shown to have the property of uniform ultimate boundedness (u.u.b.) and adopted for the control application of an n-link robot manipulator trajectory tracking. Simulated results with a 2-link revolute joint arm with remotely driven link were presented to demonstrate its feasibility.
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页码：748 / 756
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