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
fDate :
6/1/2001 12:00:00 AM
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;
Journal_Title :
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
DOI :
10.1109/3477.931517
