Decentralized Adaptive Fuzzy Control for Reconfigurable Manipulators

Author

Zhu, Mingchao ; Li, Yuanchun

Author_Institution

Dept. of Control Sci. & Eng., Jilin Univ., Changchun

fYear

2008

fDate

21-24 Sept. 2008

Firstpage

404

Lastpage

409

Abstract

A decentralized adaptive fuzzy control scheme for reconfigurable manipulators is proposed to satisfy the concept of modular software. The dynamics of reconfigurable manipulators is represented as a set of interconnected subsystems. The fuzzy logic systems are used to model the unknown dynamics of subsystem and the interconnection term. Based on Lyapunov stability theorem, the stability of the closed-loop systems can be verified. Moreover, the proposed control scheme guarantees that variables involved are bounded and the H^iquest tracking performance is achieved. The simulation results are presented to show the effectiveness of the proposed decentralized adaptive fuzzy control scheme.

Keywords

adaptive control; fuzzy control; manipulators; optimal control; H^infin optimal control; Lyapunov stability theorem; adaptive control; adaptive fuzzy control; decentralized control; fuzzy logic systems; reconfigurable manipulators; Adaptive control; Centralized control; Control systems; Distributed control; Fuzzy control; Fuzzy systems; Manipulator dynamics; Programmable control; Robots; Stability; H^Â¿ optimal control; adaptive control; decentralized control; fuzzy control; reconfigurable manipulators;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics, 2008 IEEE Conference on

Conference_Location

Chengdu

Print_ISBN

978-1-4244-1675-2

Electronic_ISBN

978-1-4244-1676-9

Type

conf

DOI

10.1109/RAMECH.2008.4681387

Filename

4681387