An adaptive fuzzy control for robotic manipulators

被引：0
|
作者：
Sun, W [1 ]
Wang, YN [1 ]
机构：
[1] Hunan Univ, Coll Elect & Informat Engn, Changsha 410082, Peoples R China
来源：
2004 8TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION, VOLS 1-3 | 2004年
关键词：
adaptive fuzzy control; controller output method; robotic manipulator;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, an adaptive fuzzy control strategy is developed for robotic manipulators to guarantee both global stability and performance. A controller output error method (COEM) is introduced and applied to the design of adaptive fuzzy control system. The proposed control strategy employs a gradient descent algorithm to minimize a cost function which is based on the error of the controller output and is minimized by tuning some or all of the parameters of fuzzy controller. The simulation results show that the proposed control is effective and yields superior tracking performance.
引用
收藏
页码：1952 / 1956
页数：5
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