A fuzzy adaptive variable structure controller with applications to robot manipulators

被引：48

作者：

Hsu, YC ^{[1
]}

Chen, GR

Li, HX

机构：

[1] Univ Houston, Dept Elect & Comp Engn, Houston, TX 77204 USA

[2] City Univ Hong Kong, Dept Elect Engn, Kowloon, Hong Kong, Peoples R China

[3] City Univ Hong Kong, Dept Mfg Engn & Engn Management, Kowloon, Hong Kong, Peoples R China

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS | 2001年 / 31卷 / 03期

关键词：

adaptive control; fuzzy control; robotics; variable structure control;

D O I：

10.1109/3477.931517

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：331 / 340

页数：10

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