DocumentCode
1506767
Title
A fuzzy adaptive variable structure controller with applications to robot manipulators
Author
Hsu, Ya-Chen ; Chen, Guanrong ; Li, Han-Xiong
Author_Institution
Dept. of Electr. & Comput. Eng., Houston Univ., TX, USA
Volume
31
Issue
3
fYear
2001
fDate
6/1/2001 12:00:00 AM
Firstpage
331
Lastpage
340
Abstract
A new adaptive fuzzy control algorithm is developed in this paper, which has a regular fuzzy controller and a supervisory control term. This control algorithm does not require the system model, but has stability assurance for the closed-loop controlled system. The design is simple, in the sense that both the membership functions and the rule base are simple, yet generic. It can be applied to a large class of robotic and other mechanical systems
Keywords
adaptive control; fuzzy control; manipulators; variable structure systems; adaptive fuzzy control; closed-loop controlled system; fuzzy controller; membership functions; rule base; stability assurance; supervisory control; variable structure controller; Adaptive control; Control systems; Fuzzy control; Fuzzy systems; Manipulators; Mechanical variables control; Programmable control; Robot sensing systems; Sliding mode control; Supervisory control;
fLanguage
English
Journal_Title
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
Publisher
ieee
ISSN
1083-4419
Type
jour
DOI
10.1109/3477.931517
Filename
931517
Link To Document