Title :
Direct adaptive fuzzy decentralized control for reconfigurable modular manipulators
Author :
Zhu Mingchao ; Lu, Zhu ; Zhu Lu ; Li Yuanchun
Author_Institution :
Changchun Inst. of Opt., Fine Mech. & Phys., Chinese Acad. of Sci., Changchun, China
Abstract :
A stable direct adaptive fuzzy decentralized control for reconfigurable modular manipulators is proposed to satisfy the concept of modular software. For the development of the decentralized control, the dynamics of reconfigurable manipulators is represented as a set of interconnected subsystems. The fuzzy logic systems are introduced to model the unknown dynamics of subsystem and the interconnection term by using adaptive algorithm. Based on Lyapunov stability theorem, the stability of the closed-loop systems can be verified. The simulation results are presented to show the effectiveness of the proposed adaptive fuzzy decentralized control schemes.
Keywords :
Lyapunov methods; adaptive control; closed loop systems; decentralised control; fuzzy control; interconnected systems; manipulator dynamics; Lyapunov stability theorem; adaptive algorithm; closed loop system; direct adaptive fuzzy decentralized control; fuzzy logic system; interconnected subsystem; modular software; reconfigurable modular manipulator; subsystem dynamics; Adaptation model; Distributed control; Joints; Manipulator dynamics; Mathematical model; Trajectory; Adaptive Control; Decentralized Control; Fuzzy Control; Reconfigurable Modular Manipulators;
Conference_Titel :
Control Conference (CCC), 2010 29th Chinese
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-6263-6
