DocumentCode
3136919
Title
Adaptive fuzzy controller for nonlinear uncertain systems
Author
Chiang, ChiangGheng ; Chih-Chien Hu
Author_Institution
Dept. of Electr. Eng., Tatung Inst. of Technol., Taipei, Taiwan
Volume
2
fYear
1999
fDate
1999
Firstpage
1131
Abstract
In this paper, an adaptive fuzzy controller for single-input single-output (SISO) nonlinear systems with higher-order and unmatched uncertainties is provided. The design is based on the principle of sliding mode control, input-output linearizing controller, and the approximation capability of adaptive fuzzy systems. Finally, the suggested controller is applied to a flexible joint robot. Simulation results indicate its efficiency
Keywords
adaptive control; control system synthesis; fuzzy control; linearisation techniques; nonlinear systems; robots; uncertain systems; variable structure systems; SISO systems; adaptive control; flexible joint robot; fuzzy control; input-output linearizing controller; nonlinear systems; sliding mode control; uncertain systems; Adaptive control; Control systems; Fuzzy control; Fuzzy systems; Nonlinear control systems; Nonlinear systems; Programmable control; Sliding mode control; Uncertain systems; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Processing and Manufacturing of Materials, 1999. IPMM '99. Proceedings of the Second International Conference on
Conference_Location
Honolulu, HI
Print_ISBN
0-7803-5489-3
Type
conf
DOI
10.1109/IPMM.1999.791538
Filename
791538
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