Adaptive control of mechanical manipulators
Adaptive control of mechanical manipulators
On the adaptive control of robot manipulators
International Journal of Robotics Research
Nonlinear adaptive control of an N-link robot with unknown load
International Journal of Robotics Research
Experiments with the use of a rule-based self-organising controller for robotics applications
Fuzzy Sets and Systems - Fuzzy Control
Adaptive fuzzy systems and control: design and stability analysis
Adaptive fuzzy systems and control: design and stability analysis
Fuzzy adaptive output tracking control of nonlinear systems
Fuzzy Sets and Systems
Control of Robot Manipulators
Stable indirect fuzzy adaptive control
Fuzzy Sets and Systems - Theme: Modeling and control
IEEE Transactions on Fuzzy Systems
A hybrid adaptive fuzzy control for a class of nonlinear MIMO systems
IEEE Transactions on Fuzzy Systems
The best approximation to C2 functions and its error bounds using regular-center Gaussian networks
IEEE Transactions on Neural Networks
Observer-based fuzzy adaptive control for strict-feedback nonlinear systems
Fuzzy Sets and Systems
Adaptive fuzzy output tracking control for a class of uncertain nonlinear systems
Fuzzy Sets and Systems
Fuzzy adaptive observer backstepping control for MIMO nonlinear systems
Fuzzy Sets and Systems
Combined adaptive fuzzy control for uncertain MIMO nonlinear systems
ACC'09 Proceedings of the 2009 conference on American Control Conference
IJCNN'09 Proceedings of the 2009 international joint conference on Neural Networks
Direct adaptive fuzzy control for nonlinear systems with supervisory control performance
CCDC'09 Proceedings of the 21st annual international conference on Chinese Control and Decision Conference
A combined backstepping and small-gain approach to robust adaptive fuzzy output feedback control
IEEE Transactions on Fuzzy Systems
Information Sciences: an International Journal
State observer design for nonlinear systems using neural network
Applied Soft Computing
Interval type 2 hierarchical FNN with the H-infinity condition for MIMO non-affine systems
Applied Soft Computing
Adaptive PI Hermite neural control for MIMO uncertain nonlinear systems
Applied Soft Computing
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This paper presents a fuzzy adaptive control suitable for motion control of multi-link robot manipulators with structured and unstructured uncertainties. When joint velocities are available, full state fuzzy adaptive feedback control is designed to ensure the stability of the closed loop dynamic. If the joint velocities are not measurable, an observer is introduced and an adaptive output feedback control is designed based on the estimated velocities. In the proposed control scheme, we need not derive the linear formulation of robot dynamic equation and tune the parameters. To reduce the number of fuzzy rules of the fuzzy controller, we consider the properties of robot dynamics and the decomposition of the uncertainties terms. The proposed controller is robust against uncertainties and external disturbance. Further, it is shown that required stability conditions, in both cases, can be formulated as LMI problems and solved using dedicated software. The validity of the control scheme is demonstrated by computer simulations on a two-link robot manipulator.