Velocity observer-based fuzzy adaptive control of multi-link robotic manipulators

Ching Hung Lee*, Hao Yuan Hsueh

*此作品的通信作者

研究成果: Paper同行評審

2 引文 斯高帕斯(Scopus)

摘要

This paper introduces a velocity observer-based fuzzy adaptive control scheme for nonlinear multi-link manipulator robot system with actuator dynamics. The system has uncertainty and unknown state derivative. The proposed approach combines the dynamic fuzzy logic system (DFLS) and nonlinear observer to deal with the tracking control problem of multi-link manipulator system. At first, the nonlinear system is transferred to a strict-feedback affine-like form. Then, we adopt the DFLS to approximate the nonlinear unknown functions and the observer is used to estimate the unmeasured states. Based on the Lyapunov approach, the adaptive laws of DFLS are obtained and the stability of the closed-loop system is guaranteed. Finally, simulation and experimental results are introduced to illustrate the effectiveness of our approach.

原文English
頁面208-214
頁數7
DOIs
出版狀態Published - 2012
事件2012 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2012 - Taichung, Taiwan
持續時間: 16 11月 201218 11月 2012

Conference

Conference2012 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2012
國家/地區Taiwan
城市Taichung
期間16/11/1218/11/12

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