Direct Adaptive Fuzzy Control for Robots in Cartesian Space

Author

Wang, Hong-rui ; Chen, Zeng-Wei ; Wei, Li-Xin ; Tian, Xue-Jing ; Liu, Xiu-Ling

Author_Institution

Yanshan Univ., Qinhuangdao

Volume

1

fYear

2007

fDate

19-22 Aug. 2007

Firstpage

482

Lastpage

486

Abstract

In this paper, a kind of direct fuzzy adaptive controller with H_infin compensation is applied to robot manipulators with uncertainty in Cartesian space. The direct fuzzy adaptive controller is derived from fuzzy logic system as the master one, and the additional H_infin compensation controller is employed to attenuate both the effects of fuzzy approximation error and external disturbance. In addition, the number of fuzzy rules and the adjustable parameters of the fuzzy logic system are both less than that of indirect fuzzy adaptive control. The Lyapunov stability analysis and simulation results have proven the effectiveness of the approach.

Keywords

H^infin control; Lyapunov methods; adaptive control; approximation theory; compensation; fuzzy control; manipulators; stability; uncertain systems; Cartesian space; H_infin compensation; Lyapunov stability analysis; direct adaptive fuzzy control; external disturbance; fuzzy approximation error; fuzzy logic system; fuzzy rules; robot manipulators; Adaptive control; Approximation error; Control systems; Fuzzy control; Fuzzy logic; Fuzzy systems; Manipulators; Orbital robotics; Programmable control; Uncertainty; Cartesian space; Direct fuzzy adaptive; HÂ¿ compensation;

fLanguage

English

Publisher

ieee

Conference_Titel

Machine Learning and Cybernetics, 2007 International Conference on

Conference_Location

Hong Kong

Print_ISBN

978-1-4244-0973-0

Electronic_ISBN

978-1-4244-0973-0

Type

conf

DOI

10.1109/ICMLC.2007.4370193

Filename

4370193