ADAPTIVE FUZZY CONTROLLERS OF A ROBOT MANIPULATOR

Authors
NEO SS ER MJ
Citation
Ss. Neo et Mj. Er, ADAPTIVE FUZZY CONTROLLERS OF A ROBOT MANIPULATOR, International Journal of Systems Science, 27(6), 1996, pp. 519-532
Citations number
11
Categorie Soggetti
System Science","Computer Science Theory & Methods","Operatione Research & Management Science
Journal title
International Journal of Systems Science → ACNP
ISSN journal
00207721
Volume
27
Issue
6
Year of publication
1996
Pages
519 - 532
Database
ISI
SICI code
0020-7721(1996)27:6<519:AFCOAR>2.0.ZU;2-3
Abstract
In this paper, two adaptive fuzzy robot control algorithms, which empl oy tracking errors of the joint motion to drive the parameter adaptati on, are derived. The predominant concern of the adaptation laws is to reduce the tracking errors. In particular, they require no feedback of joint accelerations. These adaptive controllers do not require the ex act robot dynamics but only the boundary of the dynamics. Theoretical results and simulation studies on a two-link robot manipulator show th at these adaptive fuzzy robot controllers ave robust and stable.