Adaptive Control of Robot Manipulators Using an Incremental Fuzzy System

被引：0
|
作者：
Kim, Chang-Hyun [1 ]
Im, Soung-Min [1 ]
Lee, Ju-Jang [1 ]
机构：
[1] Korea Adv Inst Sci & Technol, Dept Elect Engn & Comp Sci, Taejon 305701, South Korea
来源：
2008 INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION: (ICMA), VOLS 1 AND 2 | 2008年
关键词：
Fuzzy system; incremental learning; TSK fuzzy model; adaptive control; manipulator;
D O I：
10.1109/ICMA.2008.4798727
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An adaptive control using an incremental fuzzy system is proposed in this paper. The overall controller is comprised of a conventional PD controller and a fuzzy controller which learns the inverse dynamics model of the robot manipulator. The structure and parameters of the fuzzy controller are determined dynamically by using an incremental hyperplane-based fuzzy clustering. Its parameters are further refined to compensate for the unmodeled dynamics of the system. The proposed control scheme is applied to control a two-link robot manipulator. The simulation results show that the proposed method can give favorable tracking performance by incorporating of an incremental learning and an adaptive control technique.
引用
收藏
页码：66 / 71
页数：6
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