Adaptive Control of Robot Manipulators Using an Incremental Fuzzy System

被引：0
|
作者：
Kim, Chang-Hyun [1 ]
Im, Soung-Min [1 ]
Lee, Ju-Jang [1 ]
机构：
[1] Korea Adv Inst Sci & Technol, Dept Elect Engn & Comp Sci, Taejon 305701, South Korea
来源：
2008 INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION: (ICMA), VOLS 1 AND 2 | 2008年
关键词：
Fuzzy system; incremental learning; TSK fuzzy model; adaptive control; manipulator;
D O I：
10.1109/ICMA.2008.4798727
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An adaptive control using an incremental fuzzy system is proposed in this paper. The overall controller is comprised of a conventional PD controller and a fuzzy controller which learns the inverse dynamics model of the robot manipulator. The structure and parameters of the fuzzy controller are determined dynamically by using an incremental hyperplane-based fuzzy clustering. Its parameters are further refined to compensate for the unmodeled dynamics of the system. The proposed control scheme is applied to control a two-link robot manipulator. The simulation results show that the proposed method can give favorable tracking performance by incorporating of an incremental learning and an adaptive control technique.
引用
收藏
页码：66 / 71
页数：6
相关论文
共 50 条
  • [21] Adaptive control of robot manipulators using fuzzy logic systems under actuator constraints
    Purwar, S
    Kar, IN
    Jha, AN
    2004 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-3, PROCEEDINGS, 2004, : 1449 - 1454
  • [22] On-line adaptive control of robot manipulators using dynamic fuzzy neural networks
    Gao, Y
    Er, MJ
    Leithead, WE
    Leith, DJ
    PROCEEDINGS OF THE 2001 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 2001, : 4828 - 4833
  • [23] An adaptive fuzzy controller for robot manipulators
    Chiou, KC
    Huang, SJ
    MECHATRONICS, 2005, 15 (02) : 151 - 177
  • [24] Adaptive learning control of robot manipulators via incremental hybrid neural network
    Xu, Siyong
    Wu, Zhong
    NEUROCOMPUTING, 2024, 568
  • [25] Indirect adaptive fuzzy control for flexible-joint robot manipulators using voltage control strategy
    Fateh, Mohammad Mehdi
    Souzanchikashani, Mahdi
    JOURNAL OF INTELLIGENT & FUZZY SYSTEMS, 2015, 28 (03) : 1451 - 1459
  • [26] HYBRID POSITION/FORCE CONTROL OF ROBOT MANIPULATORS MOUNTED ON OSCILLATORY BASES USING ADAPTIVE FUZZY CONTROL
    Lin, J.
    Lin, C. C.
    Lo, H. -S.
    2010 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL, 2010, : 487 - 492
  • [27] Adaptive Control of Robot Manipulators Using the Voltage Control Strategy
    Kardgar, Amir
    Fateh, Mohammad Mehdi
    Ahmadi, Seyed Mohammad
    26TH IRANIAN CONFERENCE ON ELECTRICAL ENGINEERING (ICEE 2018), 2018, : 772 - 777
  • [28] Adaptive control of robot manipulators using bound estimation
    Yuh, J
    Nie, J
    Lee, WC
    1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3: INNOVATIONS IN THEORY, PRACTICE AND APPLICATIONS, 1998, : 1126 - 1131
  • [29] Adaptive fuzzy compensator based CNF control for uncertain robot manipulators
    Jiang Y.
    Gong C.
    Lü K.
    Dai J.
    Zhendong yu Chongji/Journal of Vibration and Shock, 2020, 39 (08): : 106 - 111
  • [30] Indirect fuzzy adaptive model-following control for robot manipulators
    Goléa, N
    PROCEEDINGS OF THE 2002 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1 & 2, 2002, : 198 - 202
12345