Control of uncertain flexible joint manipulator using adaptive Takagi-Sugeno fuzzy model based controller

被引：0

作者：

Park, CW ^{[1
]}

Hyun, CH ^{[1
]}

Park, MS ^{[1
]}

Lee, CH ^{[1
]}

Kim, J ^{[1
]}

Park, M ^{[1
]}

机构：

[1] Yonsei Univ, Dept Elect & Comp Engn, ICS Lab, Seodaemun Ku, Seoul, South Korea

来源：

2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS | 2001年

关键词：

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：

III this paper, in order to control a uncertain flexible Joint manipulator, Adaptive Fuzzy Control (AFC) scheme via Parallel distributed Compensation(PDC) is developed for the multi-input/multi-output plant model represented by the Takagi-Sugeno(TS) model. The alternative AFC scheme is proposed to provide asymptotic tracking of a reference signal for the systems with uncertain or slowly time-varying parameters, Vie developed control law and adaptive law, guarantee the boundedness of all signals in the closed-loop system. In addition, the plant state tracks the state of the reference model asymptotically with time for any bounded reference input signal. The suggested design technique is applied to tracking control of a flexible-link robot manipulator.

引用

页码：985 / 990

页数：6

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