DocumentCode
305664
Title
A nonlinear robust control estimating an unknown upper bound by a fuzzy reasoning
Author
Izumi, Kiyotaka ; Watanabe, Keigo ; Otsubo, Takaaki
Author_Institution
Dept. of Mech. Eng., Saga Univ., Japan
Volume
1
fYear
1996
fDate
14-17 Oct 1996
Firstpage
298
Abstract
A simplified adaptive nonlinear robust controller (SANROC) has been studied in the authors´ research. However, the estimate of an upper bound for uncertainties is increased by using the adaptive mechanism in this method. The objective in this paper is that a fuzzy reasoning is establish to be equivalent to the adaptive mechanism of SANROC without matching conditions. The proposed method is applied to a pantograph type manipulator. The effectiveness of the present method is illustrated by some simulations
Keywords
adaptive control; fuzzy control; fuzzy systems; nonlinear control systems; robust control; fuzzy reasoning; pantograph type manipulator; simplified adaptive nonlinear robust controller; uncertainty; unknown upper bound estimation; Adaptive control; Control systems; Fuzzy reasoning; Lyapunov method; Programmable control; Riccati equations; Robust control; Uncertainty; Upper bound; Variable structure systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man, and Cybernetics, 1996., IEEE International Conference on
Conference_Location
Beijing
ISSN
1062-922X
Print_ISBN
0-7803-3280-6
Type
conf
DOI
10.1109/ICSMC.1996.569784
Filename
569784
Link To Document