T HE benefits of lightweight space robotic manipulators are gained at the expense of higher elasticity in the joints. This leads to a more complex dynamic behavior. The additional flexible dynamics introduce two more state variables for each joint, which implies that the description of the complete dynamics model (including joint elasticity) requires four states for each joint: position and vel...

A hybrid indirect and direct adaptive fuzzy output tracking control schemes are developed for a class of nonlinear multiple-input–multiple-output (MIMO) systems. This hybrid control system consists of observer and other different control components. Using the state observer, it does not require the system states to be available for measurement. Assisted by observer-based state feedback control ...

Robots have been increasingly used in uncertain environments where direct contact with the surrounding environment exists. A design procedure of an adaptive fuzzy control, which can be carried out systematically, is suggested in this paper. The developed adaptive laws learn on-line the fuzzy rules of the control system and the uncertainties of the plant. Adaptive fuzzy control is integrated in ...

This paper investigates the effectiveness of two adaptive control strategies for modulating control force of variable friction dampers (VFDs) that are employed as semi-active devices in combination with laminated rubber bearings for seismic protection of buildings. The first controller developed in this study is an adaptive fuzzy neural controller (AFNC). It consists of a direct fuzzy controlle...

In this letter, stable direct and indirect adaptive controllers are presented that use Takagi–Sugeno (T–S) fuzzy systems, conventional fuzzy systems, or a class of neural networks to provide asymptotic tracking of a reference signal vector for a class of continuous time multi-input multi-output (MIMO) square nonlinear plants with poorly understood dynamics. The direct adaptive scheme allows for...

The paper is addressed to study the trajectory control of robotic mechanisms, particularly, to the transient performance of path tracking control systems. The coefficients and terms of the robot dynamic equations may be partly unknown and some dynamic effects may be unmodeled. One general scheme, which is a combination of the generalization of the computed torque method and the velocity gradien...

This paper presents an original variable gain PI (VGPI) controller for speed control of a direct torque neuro fuzzy controlled (DTNFC) induction motor drive. First, a VGPI speed controller is designed to replace the classical PI controller in a conventional direct torque controlled induction motor drive. Its simulated performances are then compared to those of a classical PI controller. Then, a...

this paper presents an indirect adaptive system based on neuro-fuzzy approximators for the speed control of induction motors. the uncertainty including parametric variations, the external load disturbance and unmodeled dynamics is estimated and compensated by designing neuro-fuzzy systems. the contribution of this paper is presenting a stability analysis for neuro-fuzzy speed control of inducti...

Abstract: In this paper, we propose direct and indirect adaptive fuzzy sliding mode control approaches for a class of nonaffine nonlinear systems. In the direct case, we use the implicit function theory to prove the existence of an ideal implicit feedback linearization controller, and hence approximate it to attain the desired performances. In the indirect case, we exploit the linear structure ...

An adaptive fuzzy sliding mode controller (AFSMC) is proposed in this paper. The parameters of the membership functions in the fuzzy rule base are changed according to some adaptive algorithm for the purpose of controlling the system state to hit an userdefined sliding surface and then slide along it. The initial IF-THEN rules in the AFSMC can be randomly selected or roughly given by human expe...