Stability analysis of decentralized adaptive fuzzy logic control for robot arm tracking

Author

Liu, Ming

Author_Institution

Dept. of Electr. & Comput. Syst. Eng., Monash Univ., Clayton, Vic., Australia

Volume

1

fYear

2000

fDate

2000

Firstpage

883

Abstract

The global ultimate stability of a decentralized adaptive fuzzy controller for trajectory tracking of robot manipulators is presented. Employing a PD control and a cubic feedback to ensure the global stability for robot tracking, an adaptive fuzzy logic scheme is incorporated to reduce the effects of interconnections, frictions, gravity force and other uncertainties. It shows that with a very limited knowledge on the sizes of interconnection terms, the controller guarantees the global ultimate boundedness of tracking errors. As the overall controller is based on a decentralized controller structure, it results in very simple fuzzy rules which can be implemented in most robot systems without hardware alternation. The simulation results are included for verification

Keywords

adaptive control; decentralised control; feedback; fuzzy control; manipulator dynamics; stability; tracking; two-term control; PD control; adaptive control; decentralized control; feedback; fuzzy control; manipulators; robot arm; stability; trajectory tracking; Adaptive control; Control systems; Force feedback; Fuzzy control; Fuzzy logic; Manipulators; Programmable control; Robots; Stability analysis; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2000. Proceedings of the 39th IEEE Conference on

Conference_Location

Sydney, NSW

ISSN

0191-2216

Print_ISBN

0-7803-6638-7

Type

conf

DOI

10.1109/CDC.2000.912882

Filename

912882