Indirect Robust Adaptive Fuzzy Control of Uncertain Two Link Robot Manipulator

被引：4

作者：

Abdelhamid, Bounemeur ^{[1
]}

Mouhamed, Chemachema ^{[1
]}

Najib, Essounbouli ^{[2
]}

机构：

[1] Univ Freres Mentouri, Dept Elect, Lab Automat Robot & Control Syst, Fac Engn, Constantine, Algeria

[2] Univ Technol Troyes, Dept Mech Engn, Lab Res Sci & Informat Tech & Commun, Troyes, France

来源：

RECENT ADVANCES IN ELECTRICAL ENGINEERING AND CONTROL APPLICATIONS | 2017年 / 411卷

关键词：

Adaptive fuzzy control; Feedback linearization; Nonlinear systems; Lyapunov stability; MIMO NONLINEAR-SYSTEMS;

D O I：

10.1007/978-3-319-48929-2_10

中图分类号：

X [环境科学、安全科学];

学科分类号：

08 ; 0830 ;

摘要：

This paper presents an adaptive fuzzy logic modeling and control of two link robot manipulator with uncertainties. To estimate the uncertain parts of the process, fuzzy logic systems are used. The uncertain nonlinearities of the system are captured by fuzzy systems that have been proven to be universal approximators. The proposed control scheme completely overcomes the singularity problem that occurs in the indirect adaptive feedback linearizing control. Projection in the estimate parameters is not required and the stability analysis of the closed-loop system is performed using Lyapunov approach. Simulation results are provided to verify the effectiveness of the proposed design.

引用

页码：125 / 139

页数：15

共 18 条

[1] Online adaptive fuzzy neural identification and control of a class of MIMO nonlinear systems [J].