Direct adaptive fuzzy decentralized control for reconfigurable modular manipulators

Author

Zhu Mingchao ; Lu, Zhu ; Zhu Lu ; Li Yuanchun

Author_Institution

Changchun Inst. of Opt., Fine Mech. & Phys., Chinese Acad. of Sci., Changchun, China

fYear

2010

fDate

29-31 July 2010

Firstpage

2503

Lastpage

2508

Abstract

A stable direct adaptive fuzzy decentralized control for reconfigurable modular manipulators is proposed to satisfy the concept of modular software. For the development of the decentralized control, the dynamics of reconfigurable manipulators is represented as a set of interconnected subsystems. The fuzzy logic systems are introduced to model the unknown dynamics of subsystem and the interconnection term by using adaptive algorithm. Based on Lyapunov stability theorem, the stability of the closed-loop systems can be verified. The simulation results are presented to show the effectiveness of the proposed adaptive fuzzy decentralized control schemes.

Keywords

Lyapunov methods; adaptive control; closed loop systems; decentralised control; fuzzy control; interconnected systems; manipulator dynamics; Lyapunov stability theorem; adaptive algorithm; closed loop system; direct adaptive fuzzy decentralized control; fuzzy logic system; interconnected subsystem; modular software; reconfigurable modular manipulator; subsystem dynamics; Adaptation model; Distributed control; Joints; Manipulator dynamics; Mathematical model; Trajectory; Adaptive Control; Decentralized Control; Fuzzy Control; Reconfigurable Modular Manipulators;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2010 29th Chinese

Conference_Location

Beijing

Print_ISBN

978-1-4244-6263-6

Type

conf

Filename

5573291