A fuzzy adaptive variable structure controller with applications torobot manipulators

Authors:
Ya-Chen Hsu;Guanrong Chen;Han-Xiong Li
Affiliations:
Dept. of Electr. & Comput. Eng., Houston Univ., TX;-;-
Venue:
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Year:
2001

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Abstract

A new adaptive fuzzy control algorithm is developed in this paper, which has a regular fuzzy controller and a supervisory control term. This control algorithm does not require the system model, but has stability assurance for the closed-loop controlled system. The design is simple, in the sense that both the membership functions and the rule base are simple, yet generic. It can be applied to a large class of robotic and other mechanical systems