Adaptive Fuzzy Control of Uncertain Robotic Manipulator
نویسندگان
چکیده
منابع مشابه
Uncertain Robotic Manipulator System’s Tracking Control Based on Fuzzy Adaptive Method
The paper puts forward a control scheme by a computed torque controller plus a fuzzy compensator concerning the issue of tracking control of uncertain robotic manipulator. Computed torque controller is used for the nominal system and the fuzzy compensator is used to control the uncertain system. The parameters of fuzzy compensator are adaptively adjusted based on Lynapunov stability theory. The...
متن کاملadaptive fuzzy control of a mobile manipulator robot
a mobile manipulator robot is known as a complex system due to some properties such as coupling between the manipulator and mobile chassis, holonomic and nonholonomic constraints, multivariable and nonlinear dynamics. the control of robot faces the external disturbance, parametric uncertainty and unmodeled dynamics. therefore, the use of an adaptive fuzzy system is suggested for its capability ...
متن کاملTrajectory Control of a Robotic Manipulator Utilizing an Adaptive Fuzzy Sliding Mode
In this paper, a novel adaptive fuzzy sliding mode control method is proposed for the robust tracking control of robotic manipulators. The proposed controller possesses the advantages of adaptive control, fuzzy control, and sliding mode control. First, system stability and robustness are guaranteed based on the sliding mode control. Further, fuzzy rules are developed incorporating with adaptati...
متن کاملAdaptive Fuzzy Computed-Torque Control for Robot Manipulator with Uncertain Dynamics
To overcome the disadvantages of conventional computed‐torque control and fuzzy control, and to exploit their attractive features, this paper proposes two types of adaptive control scheme combining conventional computed‐torque control and different fuzzy compensators for the robust tracking control of robotic manipulators with structured and unstructured unce...
متن کاملDirect Model Reference Adaptive Control of a Flexible Robotic Manipulator
Quick, precise control of a flexible manipulator in a space environment is essential for future Space Station repair and satellite servicing. Numerous control algorithms have proven successful in controlling rigid manipulators with colocated sensors and actuators; however, few have been tested on a flexible manipulator with noncolocated sensors and actuators. In this thesis, a model reference a...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Mathematical Problems in Engineering
سال: 2018
ISSN: 1024-123X,1563-5147
DOI: 10.1155/2018/4703492