Title :
Adaptive fuzzy controller for nonlinear uncertain systems
Author :
Chiang, ChiangGheng ; Chih-Chien Hu
Author_Institution :
Dept. of Electr. Eng., Tatung Inst. of Technol., Taipei, Taiwan
Abstract :
In this paper, an adaptive fuzzy controller for single-input single-output (SISO) nonlinear systems with higher-order and unmatched uncertainties is provided. The design is based on the principle of sliding mode control, input-output linearizing controller, and the approximation capability of adaptive fuzzy systems. Finally, the suggested controller is applied to a flexible joint robot. Simulation results indicate its efficiency
Keywords :
adaptive control; control system synthesis; fuzzy control; linearisation techniques; nonlinear systems; robots; uncertain systems; variable structure systems; SISO systems; adaptive control; flexible joint robot; fuzzy control; input-output linearizing controller; nonlinear systems; sliding mode control; uncertain systems; Adaptive control; Control systems; Fuzzy control; Fuzzy systems; Nonlinear control systems; Nonlinear systems; Programmable control; Sliding mode control; Uncertain systems; Uncertainty;
Conference_Titel :
Intelligent Processing and Manufacturing of Materials, 1999. IPMM '99. Proceedings of the Second International Conference on
Conference_Location :
Honolulu, HI
Print_ISBN :
0-7803-5489-3
DOI :
10.1109/IPMM.1999.791538
