Title :
A new fuzzy adaptive controller using a robust property of fuzzy controller
Author :
Kim, Seung Woo ; Kim, Eun Tai ; Park, Mignon
Author_Institution :
Dept. of Electron. Eng., Yonsei Univ., Seoul, South Korea
Abstract :
A fuzzy adaptive controller which is able to solve the problems of classical adaptive controllers and conventional fuzzy adaptive controller is suggested. The architecture of a fuzzy adaptive controller using the robust property of a fuzzy controller is explained. A design procedure which can be carried out mathematically and systematically from the model of an objective system is suggested, and related mathematical theorems and their proofs are also given. The performance of the proposed adaptive control algorithm is analyzed through a DC motor control simulation and experiments on a compliant robot system
Keywords :
fuzzy control; DC motor control simulation; adaptive control algorithm; classical adaptive controllers; compliant robot system; design procedure; fuzzy adaptive controller; mathematical theorems; robust property; Adaptive control; Algorithm design and analysis; Analytical models; Control system analysis; DC motors; Fuzzy control; Mathematical model; Performance analysis; Programmable control; Robust control;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583241
