ROBUST SELF-TUNING ROTATED FUZZY BASIS FUNCTION CONTROLLER FOR ROBOT ARMS

Authors
LIN CK WANG SD
Citation
Ck. Lin et Sd. Wang, ROBUST SELF-TUNING ROTATED FUZZY BASIS FUNCTION CONTROLLER FOR ROBOT ARMS, IEE proceedings. Control theory and applications, 144(4), 1997, pp. 293-298
Citations number
15
Categorie Soggetti
Controlo Theory & Cybernetics","Instument & Instrumentation","Engineering, Eletrical & Electronic","Robotics & Automatic Control
Journal title
IEE proceedings. Control theory and applications → ACNP
ISSN journal
13502379
Volume
144
Issue
4
Year of publication
1997
Pages
293 - 298
Database
ISI
SICI code
1350-2379(1997)144:4<293:RSRFBF>2.0.ZU;2-X
Abstract
An adaptive fuzzy controller is developed for a serial-link robot arm. The proposed rotated fuzzy basis function (RFBF) controller is a more flexible fuzzy basis function expansion to approximate unknown functi ons of the robot model. All parameters of RFBF network can be tuned on line when the number of rules is determined. In the control design, th e unmodelled dynamics are considered. Moreover, the stability analysis shows that the states and tracking errors of the robot arm are unifor mly bounded. Simulations of the proposed controller on the PUMA-560 ro bot arm demonstrate the effectiveness.