Title :
Learning control of an adaptive structural manipulator by fuzzy phase-lead compensation
Author_Institution :
Dept. of Mech. Syst. Eng., Kanazawa Univ., Japan
Abstract :
This paper deals with a fuzzy learning control of an adaptive structural manipulator, which has a structure for changing the length of arms, with two degree of freedom. We apply fuzzy phase-lead compensation based on frequency domain to the manipulator. Simulation results show that compensation for the adaptive structural manipulator can be effectively realized by the learning control of the fuzzy phase-lead compensator
Keywords :
adaptive control; compensation; fuzzy control; learning (artificial intelligence); manipulators; adaptive structural manipulator; frequency domain; fuzzy phase-lead compensation; learning control; simulation results; Adaptive control; Control systems; Frequency; Fuzzy control; Fuzzy sets; Fuzzy systems; Manipulators; Open loop systems; Programmable control; Transfer functions;
Conference_Titel :
Fuzzy Information Processing Society Biannual Conference, 1994. Industrial Fuzzy Control and Intelligent Systems Conference, and the NASA Joint Technology Workshop on Neural Networks and Fuzzy Logic,
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-2125-1
DOI :
10.1109/IJCF.1994.375130
